CN205419148U - Mould and compile bag packing intelligence carloader of breaking a jam - Google Patents
Mould and compile bag packing intelligence carloader of breaking a jam Download PDFInfo
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- CN205419148U CN205419148U CN201620158607.7U CN201620158607U CN205419148U CN 205419148 U CN205419148 U CN 205419148U CN 201620158607 U CN201620158607 U CN 201620158607U CN 205419148 U CN205419148 U CN 205419148U
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Abstract
The utility model provides a mould and compile bag packing intelligence carloader of breaking a jam, listen the system including unstacker, belt elevator machine, hacking machine and 3D vision, the unstacker is established and is folded the buttress top at the braided bag package, the hacking machine is established on the transport vechicle carriage, break a jam mechanism and pile up neatly mechanism including picking mechanism, displacement mechanism, snatch two swing arms that the mechanism includes that two cylinders drive respectively and snatch the bag package, the displacement mechanism includes that a X is to moving frame, a Y to moving frame, snatch the mechanism and install on X is to moving frame, driving the shift position to moving frame, Y to moving frame by X, system program control unstacker, hacking machine operation are listened to the 3D vision, the utility model provides a carloader, can the automatic identification bag position of package, move the location, the loading is put things in good order all by the mechanical equipment completion, does not need human labor, the workman's that alleviates intensity of labour.
Description
Technical field
This utility model relates to a kind of haulage equipment, and a kind of possess crawl, the carloader of carrying function automatically.
Background technology
The packed feedstuff of feed factory typically pile can be piled up after being bundled into product in Factory Building, chooses and be quantitatively transported on conveyer when selling entrucking from pile.In prior art, entrucking process needs fork truck by a pallet piling up marsupial bag, is inserted near haulage vehicle, what artificial de-stacking one was wrapped be transported on elevating conveyor, then the carrying out wrapped by passengers inside the car one is manually piled up.It is artificial many that this entrucking mode needs, and the labor intensity of work personnel is very big, the working strength of the personnel that need to lighten one's labor by machine strength.
Utility model content
In order to solve the problem of existing bag bag conveying labor intensive, this utility model provides a kind of feed factory plastic woven bag packaging intelligence de-stacking carloader, and concrete technical scheme is:
A kind of plastic woven bag packaging intelligence de-stacking carloader, including unstacker, belt elevator machine, stacking machine and 3D vision detecting system.
Described unstacker is located at above woven bag bag pile；Described stacking machine is located on transport vehicle carriage.Described unstacker and stacking machine include grasping mechanism, displacement mechanism, described grasping mechanism includes an erecting bed, and erecting bed has two cylinders, the swing arm grabs bag bag that two cylinders drive respectively, being additionally provided with electric rotating machine on described erecting bed, described electric rotating machine controls erecting bed and rotates.Institute's displacement mechanism includes that an X moves framework to mobile framework, a Y-direction, described Y-direction moves framework and is provided with X guide rail, described X is arranged on X guide rail to mobile framework, also it is used for supporting described Y-direction and moves the frame of framework, frame is provided with Y guide rail, and described Y-direction moves framework and is arranged in Y guide rail.
Described belt elevator machine top is located at below unstacker release position, and end is located at stacking machine and captures below point.
Described 3D vision detecting system includes that the intelligence that object is unstacker distinguishes that the intelligence that a system and object are stacking machine throws in initialization system, and described intelligence debates that a system includes controlling control program that each parts run, the high-definition camera of shooting pile partial image, the intelligent imaging of making a concrete analysis of the bag package location in pile are analyzed system, determined the rotary encoder of institute's displacement mechanism displacement.Described intelligence is thrown in initialization system and is included the program for setting piling pattern and control each parts operation control program.
The carloader that this utility model provides, it is possible to automatically identifying the position of bag bag, location is moved, entrucking is piled up and all completed by plant equipment, it is not necessary to manual labor, the labor intensity of the workman alleviated.
Accompanying drawing explanation
Fig. 1 this utility model overall structure figure；
Fig. 2 is that this utility model is bowed and seen figure；
Fig. 3 is that this carloader uses state reference map；
Fig. 4 is the top view of unstacker.
Detailed description of the invention
Below in conjunction with the accompanying drawings this utility model is illustrated:
A kind of plastic woven bag packaging intelligence de-stacking carloader as shown in Figures 1 to 4, including unstacker 3, belt elevator machine 3, stacking machine 4 and 3D vision detecting system.
Described unstacker 2 is located at above woven bag bag pile 1, and it includes grasping mechanism, displacement mechanism.Described grasping mechanism includes an erecting bed 13, and erecting bed 13 has two cylinders 12, the swing arm 11 grabs bag bag that two cylinders 12 drive respectively, and described erecting bed 13 is additionally provided with electric rotating machine 14, and described electric rotating machine 14 controls erecting bed 13 and rotates.Institute's displacement mechanism includes that an X moves framework 17 to mobile 15, Y-direction of framework.Described Y-direction moves framework 17 and is provided with X guide rail 16, and described X is arranged on X guide rail 16 to mobile framework 15；Also being used for supporting described Y-direction and move the frame 19 of framework 17, frame 19 is provided with Y guide rail 18, and described Y-direction moves framework 17 and is arranged in Y guide rail 18.
Described stacking machine is located on transport vehicle carriage, and it includes grasping mechanism, displacement mechanism.Described grasping mechanism includes an erecting bed 13, and erecting bed 13 has two cylinders 12, the swing arm 11 grabs bag bag that two cylinders 12 drive respectively, and described erecting bed 13 is additionally provided with electric rotating machine 14, and described electric rotating machine 14 controls erecting bed 13 and rotates.Institute's displacement mechanism includes that an X moves framework 17 to mobile 15, Y-direction of framework.Described Y-direction moves framework 17 and is provided with X guide rail 16, and described X is arranged on X guide rail 16 to mobile framework 15；Also being used for supporting described Y-direction and move the frame 19 of framework 17, frame 19 is provided with Y guide rail 18, and described Y-direction moves framework 17 and is arranged in Y guide rail 18.
Described belt elevator machine 3 top is located at below unstacker 2 release position, and end is located at stacking machine 4 and captures below point.
Described 3D vision detecting system includes that the intelligence that object is unstacker distinguishes that the intelligence that a system and object are stacking machine throws in initialization system.
Described intelligence is debated a system and is included that one section of control program being loaded in main frame, high-definition camera, intelligent imaging analyze system, rotary encoder.High-definition camera is responsible for shooting buttress and is pushed up image clearly, intelligent imaging is analyzed the responsible image data coming camera transmissions of system and is analyzed judging, determine the coordinate position accurately of each bag of bag in buttress top, program setting main frame is according to the concrete coordinate position of each packaging, controlling X to move framework 17 move to specify the surface of bag bag to mobile framework 15, Y-direction, displacement is determined by rotary encoder and outputs data to mainframe program and is jointly processed by.Finally, control grasping mechanism and move to above belt elevator machine 3, adjust and unclamp after throwing in angle.
Described intelligence is thrown in initialization system and is referred to the most manually set the piling width of bag bag, length, the number of plies, and intelligence is thrown in initialization system control stacking mechanism and thrown in bag bag successively from belt elevator machine 3 end grabs bag bag, the input angle that follow procedure sets.
Using method of the present utility model:
First advancing equipment: unstacker 2 is arranged on above pile 1；Stacking machine 4 is arranged on above compartment；Belt elevator machine 3 is arranged between unstacker 2 and stacking machine 4；3D vision detecting system is laid and is mainly installed high-definition camera, rotary encoder, finally sets piling mode in main frame degree.
Described unstacker 2 determines position and the angle of placement of bag bag in pile by high-definition camera, intelligent imaging is analyzed system and is detected result according to vision, make each motor on unstacker 1 drive X to move framework 17 move to mobile framework 15 and Y-direction respectively, arrive the surface of target bag bag in pile 1 according to being accurately positioned of rotary encoder；Make electric rotating machine drive installation platform 13, make swing arm 11 forward suitable angle to, drive two swing arm 11 strengths to capture the middle part of packaging bag by two cylinders 12；Again make X move framework 17 again move to mobile framework 15, Y-direction according to rotary encoder location, make bag bag arrive above belt elevator machine 3 top；Making grasping mechanism rotate to suitable angle, swing arm rotates and bag bag is rendered on belt elevator machine 3 at an appropriate angle.
Bag bag arrives the top stacking machine 4 times in compartment through the conveying of belt elevator machine 3, fixes owing to capturing a some position, as long as getting hold of the opportunity of crawl, stacking machine 4 can accurately grabs bag bag.Intelligence throws in piling width, length and the number of plies set in initialization system follow procedure, controls X and moves framework move 17 to mobile framework 15, Y-direction, moved into place by bag bag successively, needs to adjust rotary grasping mechanism when throwing in angle, then unclamp.It is finally completed entrucking work.
The carloader that this utility model provides is moved, entrucking is piled up and all completed by plant equipment, significantly save manual labor, this equipment is also equipped with certain automatic identification function, carrying, a series of work of entrucking can be independently completed by the piling result set, possess certain intelligent, embody scientific and technological progress.
Claims (1)
1. a plastic woven bag packaging intelligence de-stacking carloader, is characterized in that: include unstacker, belt elevator machine, stacking machine and 3D vision detecting system, and described unstacker is located at above woven bag bag pile；Described stacking machine is located on transport vehicle carriage；Described unstacker and stacking machine include grasping mechanism, displacement mechanism, described grasping mechanism includes an erecting bed, erecting bed has two cylinders, the swing arm grabs bag bag that two cylinders drive respectively, it is additionally provided with electric rotating machine on described erecting bed, described electric rotating machine controls erecting bed and rotates, institute's displacement mechanism includes that an X is to mobile framework, one Y-direction moves framework, described Y-direction moves framework and is provided with X guide rail, described X is arranged on X guide rail to mobile framework, also it is used for supporting described Y-direction and moves the frame of framework, frame is provided with Y guide rail, described Y-direction moves framework and is arranged in Y guide rail；Described belt elevator machine top is located at below unstacker release position, and end is located at stacking machine and captures below point；Described 3D vision detecting system includes that the intelligence that object is unstacker distinguishes that the intelligence that a system and object are stacking machine throws in initialization system, and described intelligence debates that a system includes controlling control program that each parts run, the high-definition camera of shooting pile image, the intelligent imaging of making a concrete analysis of the bag package location in pile are analyzed system, determined the rotary encoder of institute's displacement mechanism displacement；Described intelligence is thrown in initialization system and is included the program for setting piling pattern and control each parts operation control program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620158607.7U CN205419148U (en) | 2016-03-02 | 2016-03-02 | Mould and compile bag packing intelligence carloader of breaking a jam |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620158607.7U CN205419148U (en) | 2016-03-02 | 2016-03-02 | Mould and compile bag packing intelligence carloader of breaking a jam |
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| CN205419148U true CN205419148U (en) | 2016-08-03 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106115287A (en) * | 2016-08-15 | 2016-11-16 | 天津金凤花科技有限公司 | Pickup carloader is moved in a kind of woven bag field |
| CN106672638A (en) * | 2017-03-21 | 2017-05-17 | 济南威瞰科技有限公司 | Intelligent truck loading system |
| CN107626608A (en) * | 2017-10-27 | 2018-01-26 | 无锡大东机械制造有限公司 | The stacking control device that packaging bag is identified using visual imaging |
| CN109319511A (en) * | 2018-11-05 | 2019-02-12 | 太原福莱瑞达物流设备科技有限公司 | A kind of vacuum chuck flood unstacker |
-
2016
- 2016-03-02 CN CN201620158607.7U patent/CN205419148U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106115287A (en) * | 2016-08-15 | 2016-11-16 | 天津金凤花科技有限公司 | Pickup carloader is moved in a kind of woven bag field |
| CN106115287B (en) * | 2016-08-15 | 2018-06-12 | 天津金凤花科技有限公司 | A kind of woven bag field movement pickup carloader |
| CN106672638A (en) * | 2017-03-21 | 2017-05-17 | 济南威瞰科技有限公司 | Intelligent truck loading system |
| CN107626608A (en) * | 2017-10-27 | 2018-01-26 | 无锡大东机械制造有限公司 | The stacking control device that packaging bag is identified using visual imaging |
| CN109319511A (en) * | 2018-11-05 | 2019-02-12 | 太原福莱瑞达物流设备科技有限公司 | A kind of vacuum chuck flood unstacker |
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