CN116767894A - Bagged cement loading production line with robot capable of automatically switching grippers - Google Patents
Bagged cement loading production line with robot capable of automatically switching grippers Download PDFInfo
- Publication number
- CN116767894A CN116767894A CN202310856220.3A CN202310856220A CN116767894A CN 116767894 A CN116767894 A CN 116767894A CN 202310856220 A CN202310856220 A CN 202310856220A CN 116767894 A CN116767894 A CN 116767894A
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- Prior art keywords
- quick
- robot
- gripper
- grippers
- change
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 27
- 239000004568 cement Substances 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 abstract description 8
- 210000000078 claw Anatomy 0.000 description 11
- 244000023431 Proboscidea parviflora Species 0.000 description 7
- 235000019096 Proboscidea parviflora Nutrition 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
Classifications
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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
-
- 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
-
- 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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a bagged cement truck loading production line with a robot capable of automatically switching grippers, wherein a gripper bracket is arranged beside the robot; the gripper bracket is provided with a plurality of gripper placing positions which are respectively used for placing a plurality of different grippers; the robot is provided with a robot body quick-change male head at the end part of the mechanical arm; the plurality of different grippers are respectively provided with a gripper quick-change female head; the quick-change female heads of the grippers are respectively in tight fit with the quick-change male head shape Cheng Suo of the robot body. By adopting the technical scheme, the automatic online flexible switching of various grippers of the robot is realized, the full coverage rate of the vehicle type of the bagged material loading system is 100%, the bagged material loading system is automatically matched with different grippers and different feeding speeds according to the vehicle type, and the production efficiency is improved; the applicability and the universality of the loading system are greatly improved; the robot gripper stacking stack type diversification is realized, and the problem of packet falling caused by overload stacking is completely solved.
Description
Technical Field
The invention belongs to the technical field of loading, unloading and transporting bagged materials in logistics industry. More particularly, the invention relates to a bagged cement truck loading production line with a robot capable of automatically switching grippers.
Background
At present, automatic loading of bagged cement robots in the market mainly adopts one of four modes of single claw, double claw, three claw and four claw, and each lane corresponds to one mode. Robot loading mode, loading efficiency and motorcycle type require carrying out lane robot tongs pile up neatly mode solidification before the project is implemented, match production efficiency and motorcycle type like this, and robot loading mode is single, and many agricultural vehicles can't realize automatic loading, and the buttress type of single tongs is single, and the partial region overload pile up neatly is easy to fall the package, and loading system's suitability and commonality are low, can't realize flexible, multi-motorcycle type, buttress type diversified loading.
The stacking mode of the single-claw robot and the double-claw robot can meet the loading requirements of all vehicle types, but the production efficiency is particularly low, and the production efficiency of the whole lane is less than 60 tons/hour.
The three-jaw robot stacking mode requires the vehicle width to be larger than 1.9m, and partial agricultural vehicles cannot meet the requirement of loading, and the loading efficiency is about 95 tons/hour.
The four-claw robot stacking mode requires the vehicle width to be larger than 2.2m, and only meets the requirement of loading of a large trailer, and the loading efficiency is about 110 tons/hour.
In summary, the stacking mode of one of the four robot gripper structures cannot meet the conditions of high production efficiency and compatibility with all vehicle types.
The existing robot gripping mode with lane fixing has single stacking type. The single claw and the double claw realize stack type, the width of the vehicle is smaller than 1.9m, only the single claw and the double claw can be used, the stack type is centered, and the production efficiency is very low. The width of the vehicle is more than 1.9m and less than 2.2m, single claw, double claw and three claws can be adopted, the time gap of the middle stacking type is overlarge, and the stacking is serious when the 4+1 stacking type is adopted, so that the falling of the bags exists. Only the width of the vehicle is more than 2.2m, four claws are adopted, the center sub-package type is adopted, the production efficiency is high, but the loading requirement of the small-sized vehicle is not met.
Defects of the prior art:
1. the robot gripper mode is fixed and single, the loading vehicle type of the lane is single, and all vehicle types cannot be compatible;
2. the robot gripper mode has single stack types of different lanes, multiple stack types and stacking modes cannot be called according to the vehicle types, the stack types of the lanes are solidified, and the stack types are not attractive;
3. the on-line automatic quick replacement of single claw, double claw, three claw and four claw can not be realized, and the vehicle type and stack loading can not be automatically matched;
4. the loading of the three-jaw and four-jaw robots is strict in the size requirement of the vehicle type, and part of the vehicle type cannot be loaded. The loading of the single-claw and double-claw robots meets all vehicle types, but the productivity is low, so that the improvement of the efficiency of the whole lane is greatly limited;
5. the existing robot loading mode cannot be compatible with all vehicle types, and once a vehicle runs wrong lanes, a loading process gripper and the vehicle are easy to collide.
Disclosure of Invention
The invention provides a bagged cement truck loading production line with automatic robot hand-over grippers, and aims to realize automatic, rapid and random hand-over of the robot hand-over grippers.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the invention discloses a bagged cement truck loading production line with automatic robot hand-switching grippers, which comprises a cement bag conveying roller way, wherein the robot is arranged at one end of the cement bag conveying roller way; a gripper bracket is arranged beside the robot; the hand grip bracket is provided with a plurality of hand grip placing positions which are respectively used for placing a plurality of different hand grips; the robot is characterized in that a robot body quick-change male head is arranged at the end part of a mechanical arm; the plurality of different grippers are respectively provided with a gripper quick-change female head; the quick-change female heads of the grippers are respectively in tight fit with the quick-change male head shape Cheng Suo of the robot body.
Specifically:
the plurality of different grippers are respectively a two-jaw gripper, a three-jaw gripper and a four-jaw gripper; the grabbing quick-change female heads are respectively a two-claw quick-change female head, a three-claw quick-change female head and a four-claw quick-change female head.
The two-claw quick-change female head, the three-claw quick-change female head and the four-claw quick-change female head are respectively matched with the locking of the robot body quick-change male head in a locking manner, and are locked by adopting a pneumatic locking mechanism.
The pneumatic locking mechanism is controlled by an electromagnetic valve.
The loading production line is provided with a vehicle type data detection device on a lane of a device vehicle.
In the state of locking fit, the driving mechanism of the quick-change female head of the gripper is connected with the circuit of the quick-change male head of the robot body through a control circuit.
By adopting the technical scheme, the automatic online flexible switching of various grippers of the robot is realized, the full coverage rate of a vehicle type of the bagged material loading system is 100%, the bagged material loading system automatically matches different grippers and different feeding speeds according to the vehicle type, and the production efficiency is improved; the applicability and the universality of the loading system are greatly improved; the robot gripper stacking stack type diversification is realized, and the problem of packet falling caused by overload stacking is completely solved.
Drawings
The contents of the drawings and the marks in the drawings are briefly described as follows:
fig. 1 is a schematic structural view of the present invention.
Marked in the figure as:
1. the robot comprises a robot body quick-change male head, a three-jaw quick-change female head, a three-jaw gripper, a four-jaw quick-change female head, a four-jaw gripper, a 6-jaw quick-change female head, a 7-jaw gripper, a two-jaw gripper, a 8-jaw gripper bracket, a 9-jaw robot, a 10-jaw cement bag conveying roller way.
Detailed Description
The following detailed description of the embodiments of the invention, given by way of example only, is presented in the accompanying drawings to aid in a more complete, accurate, and thorough understanding of the inventive concepts and aspects of the invention by those skilled in the art.
The invention discloses a bagged cement loading production line with automatic robot hand-over, which is an application of automatic flexible robot hand-over on the bagged cement loading, and comprises a cement bag conveying roller way 10, wherein the robot 9 is arranged at one end of the cement bag conveying roller way 10.
In order to solve the problems in the prior art and overcome the defects of the prior art and realize the automatic, rapid and random switching of the robot gripper, the invention adopts the following technical scheme:
as shown in fig. 1, in the bagged cement truck loading production line with the robot capable of automatically switching the grippers, a gripper bracket 8 is arranged beside the robot 9; the hand grip bracket 8 is provided with a plurality of hand grip placing positions for placing a plurality of different hand grips respectively; the robot 9 is characterized in that a robot body quick-change male head 1 is arranged at the end part of a mechanical arm; the plurality of different grippers are respectively provided with a gripper quick-change female head; the grab quick-change female heads are respectively in locking fit with the robot body quick-change male head 1.
The robot quick replacement device provided by the invention realizes loading matching of various grippers and realizes online flexible switching of the grippers; the loading of the whole vehicle type is realized, and the problem of robot collision caused by vehicle running to cross lanes is completely avoided. According to the production line system, the feeding speed of the conveying line is automatically adjusted according to different vehicle types and grippers, so that the applicability and the loading efficiency of the loading system are greatly improved.
Specifically:
the plurality of different grippers are respectively a two-jaw gripper 7, a three-jaw gripper 3 and a four-jaw gripper 5; the grabbing quick-change female heads are respectively a two-claw quick-change female head 6, a three-claw quick-change female head 2 and a four-claw quick-change female head 4.
The two-claw quick-change female head 6, the three-claw quick-change female head 2 and the four-claw quick-change female head 4 are respectively matched with the locking of the robot body quick-change male head 1 in a locking manner, and are locked by adopting a pneumatic locking mechanism.
Each lane is provided with three kinds of grippers, namely two grippers, three grippers and four grippers, which are respectively arranged at the fixed positions of the designated gripper brackets; wherein the four-jaw gripper 5 is larger than the three-jaw gripper 3; the three-jaw gripper 3 is larger than the two-jaw gripper 7 so as to meet the loading requirements of different vehicle types.
The center end is connected to every tongs and is installed a quick replacement device female, and the public head of a quick replacement device is installed to the manipulator end of robot, and the public head of quick replacement device possesses pneumatic fit and interlocking with female head, possesses 32 electric signal joint seamless butt joint simultaneously. The mechanical and electrical automatic, quick and free switching of the robot gripper is realized through the quick replacement device.
The pneumatic locking mechanism is controlled by an electromagnetic valve.
The production line control system controls the locking and releasing of the pneumatic locking mechanism through an electromagnetic valve.
The loading production line is provided with a vehicle type data detection device on a lane of a device vehicle.
The vehicle enters a lane, the vehicle type data detection device detects vehicle type data, and an electric control system of a production line automatically analyzes the optimal matched handles and optimal stack types of stacking according to relation parameters such as the length, width, carriage height, head height, bottom height, tonnage and the like of the vehicle;
the production line control system guides the robot to match the loading grippers of the corresponding vehicle type, the robot firstly unloads the grippers of the body at the appointed position of the gripper bracket 8, the robot then fetches the grippers required by pairing, and the robot controls the electromagnetic valve to lock the female heads of the grippers; after the locking, the automatic pairing of the grippers is completed, after the robots pair the corresponding grippers, the stacking data in the system and the opening and grabbing modes of the grippers are automatically allocated, so that the stacking modes of different vehicle types and different weights are ensured, and the robot stacking of all vehicle types and the matching of multiple stacking types are met.
In the state of locking fit, the driving mechanism of the quick-change female head of the gripper is connected with the circuit of the quick-change male head 1 of the robot body through a control circuit.
The circuit of the robot body quick-change male head 1 is connected with a production line control system, and the production line control system realizes grabbing and releasing control on the action of the grabbing hand.
In summary, the invention provides the automatic online flexible switching device and the automatic online flexible switching method for the various grippers of the robot for bagged materials and the application concept thereof; the beneficial effects are as follows:
1. automatic online flexible switching of various grippers of the robot is realized;
2. the automatic online flexible switching of various grippers enables the bagged material loading system to achieve the full coverage rate of the vehicle type of 100%;
3. the multiple grippers are automatically flexibly switched on line, and the bagged material loading system automatically matches different grippers and different feeding speeds according to the vehicle types, so that the production efficiency is improved;
4. the multiple grippers are automatically flexibly switched on line, so that the applicability and the universality of the loading system are greatly improved;
5. the automatic online flexible switching of various grippers realizes the diversification of stacking modes of the robot grippers, and completely solves the problem of packet falling caused by overload stacking.
While the invention has been described above with reference to the accompanying drawings, it will be apparent that the invention is not limited to the above embodiments, but is capable of being modified or applied directly to other applications without modification, as long as various insubstantial modifications of the method concept and technical solution of the invention are adopted, all within the scope of the invention.
Claims (6)
1. The utility model provides a bagged cement loading production line of automatic switch-over tongs of robot, includes cement bag rollgang (10), robot (9) set up the one end at cement bag rollgang (10), its characterized in that: a gripper bracket (8) is arranged beside the robot (9); the gripper bracket (8) is provided with a plurality of gripper placing positions which are respectively used for placing a plurality of different grippers; the robot (9) is provided with a robot body quick-change male head (1) at the end part of the mechanical arm; the plurality of different grippers are respectively provided with a gripper quick-change female head; the grab quick-change female heads are respectively in locking fit with the robot body quick-change male head (1).
2. The automated robotic handoff gripper bagged cement truck loading line of claim 1, wherein: the plurality of different grippers are respectively a two-jaw gripper (7), a three-jaw gripper (3) and a four-jaw gripper (5); the grabbing quick-change female heads are respectively a two-claw quick-change female head (6), a three-claw quick-change female head (2) and a four-claw quick-change female head (4).
3. The automated robotic handoff gripper bagging cement truck loading line of claim 2, wherein: the two-claw quick-change female head (6), the three-claw quick-change female head (2) and the four-claw quick-change female head (4) are respectively matched with the locking of the robot body quick-change male head (1) in a locking mode, and a pneumatic locking mechanism is used for locking.
4. A bagged cement truck-loading line with automatically switched grippers by a robot as claimed in claim 3, wherein: the pneumatic locking mechanism is controlled by an electromagnetic valve.
5. The automated robotic handoff gripper bagged cement truck loading line of claim 1, wherein: the loading production line is provided with a vehicle type data detection device on a lane of a device vehicle.
6. The automated robotic handoff gripper bagged cement truck loading line of claim 1, wherein: in the state of locking fit, the driving mechanism of the quick-change female head of the gripper is connected with the circuit of the quick-change male head (1) of the robot body through a control circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310856220.3A CN116767894A (en) | 2023-07-13 | 2023-07-13 | Bagged cement loading production line with robot capable of automatically switching grippers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310856220.3A CN116767894A (en) | 2023-07-13 | 2023-07-13 | Bagged cement loading production line with robot capable of automatically switching grippers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116767894A true CN116767894A (en) | 2023-09-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310856220.3A Pending CN116767894A (en) | 2023-07-13 | 2023-07-13 | Bagged cement loading production line with robot capable of automatically switching grippers |
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| CN (1) | CN116767894A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117326353A (en) * | 2023-10-12 | 2024-01-02 | 安徽海螺中南智能机器人有限责任公司 | Three-jaw independent release cement bagged vehicle structure and loading method |
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| CN205870514U (en) * | 2016-07-27 | 2017-01-11 | 赵怀平 | Truss -like loading and unloading car robot |
| CN209127622U (en) * | 2018-09-30 | 2019-07-19 | 上海丹景智能装备有限公司 | A kind of automatic switching control equipment of multi-vehicle-type flexible grips |
| CN209364642U (en) * | 2019-01-01 | 2019-09-10 | 上海南易自动化工程有限公司 | Station dial handgrip quick-changing mechanism |
| CN211366177U (en) * | 2019-09-26 | 2020-08-28 | 盟立自动化科技(上海)有限公司 | But low-cost quick replacement's tongs |
| CN112122901A (en) * | 2020-09-30 | 2020-12-25 | 江苏集萃孵鹰科技产业发展有限公司 | Robot quick-change fixture library and robot workstation |
| CN214643633U (en) * | 2021-04-15 | 2021-11-09 | 山东中环联科机电科技有限公司 | Automatic loading system for bagged cement |
-
2023
- 2023-07-13 CN CN202310856220.3A patent/CN116767894A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205870514U (en) * | 2016-07-27 | 2017-01-11 | 赵怀平 | Truss -like loading and unloading car robot |
| CN209127622U (en) * | 2018-09-30 | 2019-07-19 | 上海丹景智能装备有限公司 | A kind of automatic switching control equipment of multi-vehicle-type flexible grips |
| CN209364642U (en) * | 2019-01-01 | 2019-09-10 | 上海南易自动化工程有限公司 | Station dial handgrip quick-changing mechanism |
| CN211366177U (en) * | 2019-09-26 | 2020-08-28 | 盟立自动化科技(上海)有限公司 | But low-cost quick replacement's tongs |
| CN112122901A (en) * | 2020-09-30 | 2020-12-25 | 江苏集萃孵鹰科技产业发展有限公司 | Robot quick-change fixture library and robot workstation |
| CN214643633U (en) * | 2021-04-15 | 2021-11-09 | 山东中环联科机电科技有限公司 | Automatic loading system for bagged cement |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117326353A (en) * | 2023-10-12 | 2024-01-02 | 安徽海螺中南智能机器人有限责任公司 | Three-jaw independent release cement bagged vehicle structure and loading method |
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