Bulk cement automatic loading device and method

Abstract

The application discloses a kind of bulk cement automatic loading device, including truss structure, vehicle positioning mechanism, for heat dissipation cement guide loading dust collection and discharging mechanism and for automatically opening the cover structure of cement tank car top manhole cover;The truss structure is located above the cement tank car, and the cover structure and dust collection and discharging mechanism are arranged on the truss structure.Bulk cement automatic loading method, comprising the following steps: first guide driver to stop right;Adopt visual camera to determine the position of manhole cover of cement tank car;Then open front and rear manhole cover by cover structure, then telescopic loading cylinder discharges, dust collection cover is placed in manhole cover to carry out dust collection, after discharging is completed, automatically close manhole cover, then realize the whole process unmanned operation of bulk cement loading.Effectively improve the loading efficiency of cement bulk, reduce the labor input, enhance the safety of loading, improve the level of loading automation.

Description

TECHNICAL FIELD

[0001] The present application relates to the bulk cement loading technology field, especially to a kind of bulk cement automatic loading device and loading method. BACKGROUND

[0002] Bulk cement refers to the cement from bulk cement warehouse is transported to cement tank truck, clinker bulk shipment volume shows the trend of continuous growth year by year.

[0003] The existing bulk clinker loading, driver enters the shipment site first, climbs on the roof, opens the manhole cover, stops the vehicle under the guidance of operator, then gets off to control room card, then starts bulk cement to fall, after the completion of the fall, driver moves out of the vehicle, climbs on the roof and closes the manhole cover, completes the bulk cement shipment;Since the present bulk cement shipment process needs personnel operation, and the driver needs to climb operation, the safety hazard of equipment and personnel is relatively large, and the loading efficiency is relatively low. SUMMARY

[0004] In view of the deficiencies in the prior art, the present application provides a kind of bulk cement automatic loading device and loading method, which can effectively improve the loading efficiency of bulk cement.

[0005] In order to solve the above technical problems, the technical scheme adopted by the present application is:

[0006] A kind of bulk cement automatic loading device, including truss structure, vehicle positioning mechanism, dust collection and discharging mechanism for guiding cement to load and opening cover structure for automatically opening manhole cover on the top of cement tank truck;The truss structure is located above the cement tank truck, and the opening cover structure and dust collection and discharging mechanism are provided on the truss structure.

[0007] The vehicle positioning mechanism includes a connected monitor and display screen, the monitor is provided on the truss structure, and the display screen is provided corresponding to the cab of the cement tank truck.

[0008] The truss structure is a three-axis truss manipulator, and the opening cover structure and dust collection and discharging mechanism are installed on the three-axis truss manipulator.

[0009] The dust collection and discharging mechanism includes dust collection pipe mounting plate, dust collection cover and telescopic discharging cylinder;Dust collection pipe mounting plate is provided on the truss structure, dust collection cover is provided on the dust collection pipe mounting plate, and telescopic discharging cylinder is provided above the truss structure.

[0010] The opening cover structure includes a distance measuring sensor for detecting the distance between the opening cover structure and the top of the cement tank truck, a pressure rod cylinder for overcoming the reset snap spring on the manhole cover to open the safety hook, and a gripper cylinder for grabbing the handle on the manhole cover to open the manhole cover.

[0011] The dust collecting pipe mounting plate is arranged on the truss structure in a lifting manner, and the mounting through hole is arranged on the dust collecting pipe mounting plate.

[0012] The uncovering structure further comprises a vision camera for visually detecting the position state of the manhole cover.

[0013] The uncovering structure further comprises a push rod cylinder, a servo motor and a rotating frame for rotating the lever on the manhole cover to loosen the inner nut, and the end of the push rod cylinder is provided with an electromagnet for attracting the lever on the manhole cover, and the rotating frame is arranged at the end of the servo motor.

[0014] The truss structure is provided with a lifting plate, and the distance measuring sensor, the push rod cylinder, the servo motor and the gripper cylinder are integrally arranged on the lifting plate.

[0015] A bulk cement automatic loading method using the bulk cement automatic loading device comprises the following steps:

[0016] First, guide the driver to stop the cement tank truck in place;

[0017] The vision camera is used to determine the position of the manhole cover of the cement tank truck.

[0018] Then, the uncovering structure is used to open the front and rear manhole covers, and then the telescopic loading cylinder is used to unload, the dust collecting cover is put into the manhole cover to collect dust, and after the unloading is completed, the manhole cover is automatically closed, and the whole process of the bulk cement loading is realized without manual operation.

[0019] Compared with the prior art, the present application has the following advantages:

[0020] The bulk cement automatic loading device and the loading method are reasonable in design, realize unmanned delivery of bulk cement, effectively improve the loading efficiency of bulk cement, reduce the labor input, enhance the safety of loading, and improve the automation level of loading. BRIEF DESCRIPTION OF DRAWINGS

[0021] The content expressed by each figure in the present specification and the marks in the figures are briefly described as follows:

[0022] Figure 1 A schematic diagram for loading bulk cement using the device of the present application Figure 1 .

[0023] Figure 2 A schematic diagram for loading bulk cement using the device of the present application Figure 2 .

[0024] Figure 3 A schematic diagram of the manhole cover structure.

[0025] Figure 4 A schematic diagram of the automatic uncovering and dust collecting structure of the present application.

[0026] Figure 5 This is a schematic diagram of the automatic lid opening structure of the present invention.

[0027] In the picture:

[0028] 1-Shipping warehouse, 2-Dust collection and unloading mechanism, 3-Front manhole cover, 4-Cement tanker truck, 5-Opening mechanism, 6-Rear manhole cover, 7-Display screen, 8-Dust collection hood, 9-Telescopic unloading cylinder, 10-Monitor, 11-Manhole cover mounting plate, 12-Lever, 13-Manhole cover, 14-Handle, 15-Safety hook, 16-Reset snap ring, 17-Dust collection pipe mounting plate, 18-Distance sensor, 19-Vision camera, 20-Push rod cylinder, 21-Electromagnet, 22-Servo motor, 23-Rotating frame, 24-Pressure rod cylinder, 25-Grip cylinder, 26-Opening cylinder, 27-Three-axis gantry robot. Detailed Implementation

[0029] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and through the description of the examples.

[0030] like Figures 1 to 5 As shown, the automatic bulk cement loading device includes a truss structure, a vehicle positioning mechanism, a material receiving and discharging mechanism 2 for guiding and loading heat-dissipating cement, and a cover opening structure 5 for automatically opening the manhole cover on the top of the cement tanker truck. The truss structure is located above the cement tanker truck 4, and the cover opening structure and the material receiving and discharging mechanism are installed on the truss structure. The truss structure can be integrated into the roof of the shipping warehouse 1.

[0031] The vehicle positioning mechanism includes a connected monitor 10 and a display screen 7. The monitor is mounted on the truss structure, and the display screen is set in the cab of the cement mixer truck. A rectangular frame is pre-displayed on the display screen to remind the driver to align the manhole cover with the rectangular frame.

[0032] Preferably, the truss structure is a three-axis truss robot 27, with the opening structure and the ash collection and discharging mechanism both mounted on the three-axis truss robot. One side of the manhole cover on the top of the cement tanker is hinged to the manhole mounting plate 11, and the other side of the manhole cover is provided with a handle 14, which is hooked and locked by the safety hook 15 on the manhole mounting plate. The manhole cover includes a front manhole cover 3 and a rear manhole cover 6. Two sets of three-axis truss robots are set up to correspond to different manhole covers. The opening structure automatically opens and closes the front and rear manhole covers on the top of the cement tanker. The opening structure of the rear manhole cover and the ash collection and discharging mechanism are mounted on the same set of three-axis truss robots, sharing a set of horizontal moving axes, resulting in a compact structure.

[0033] Preferably, the dust collection and discharge mechanism includes a dust collection pipe mounting plate 17, a dust collection hood 8, and a telescopic discharge cylinder 9; the dust collection pipe mounting plate is installed on the truss structure, the dust collection hood is installed on the dust collection pipe mounting plate, and the telescopic discharge cylinder is installed above the truss structure.

[0034] The dust collecting pipe mounting plate is arranged on the truss structure in a lifting mode, the mounting through hole is arranged on the dust collecting pipe mounting plate, and the dust collecting cover is arranged on the mounting through hole, so that the installation is simple.

[0035] The uncovering structure 5 comprises a distance measuring sensor 18 for detecting the distance between the uncovering structure and the top of the cement tank truck, a pressure rod cylinder 24 for overcoming the pressure of the reset clamping spring 16 on the manhole cover to open the safety hook, and a gripper cylinder 25 for grabbing the handle on the manhole cover to open the manhole cover, and the gripper cylinder is integrally provided with a gripper; the gripper cylinder is arranged on the three-axis truss manipulator through an uncovering cylinder 26.

[0036] Further, the uncovering structure further comprises a push rod cylinder 20, a servo motor 22, a visual camera 19 for visually detecting the position state of the manhole cover, and a rotating frame 23 for rotating the dial rod on the manhole cover 13 to loosen the internal nut, and the end of the push rod cylinder is provided with an electromagnet 21 for sucking up the dial rod 12 on the manhole cover, and the rotating frame is arranged at the end of the servo motor, and the rotating frame drives the dial rod to rotate to loosen the nut.

[0037] The truss structure is provided with a lifting plate, and the distance measuring sensor, the push rod cylinder, the servo motor and the gripper cylinder are integrally arranged on the lifting plate, so that the integrated arrangement structure is compact.

[0038] The bulk cement automatic loading method of the bulk cement automatic loading device comprises the following steps:

[0039] First, guide the driver to stop the cement tank truck in place;

[0040] The visual camera is used to determine the position of the manhole cover of the cement tank truck;

[0041] Then, the front and rear manhole covers are opened by the uncovering structure, then the telescopic charging barrel is used for discharging, the dust collecting cover is put into the manhole cover for dust collecting, and after the discharging is completed, the manhole cover is automatically closed, and then the whole process of the bulk cement loading is realized without manual operation.

[0042] The specific automatic loading method is as follows:

[0043] Step 1: align the tank opening: after the cement tank truck arrives at the delivery square, under the guidance of the vehicle dispatching system, the driver slowly moves the vehicle in the lane; a rectangular frame is displayed on the display screen in advance, reminding the driver to align the front manhole cover with the rectangular frame; the driver aligns the manhole opening with the rectangular frame by observing the position of the manhole opening on the display screen;

[0044] Step two: identify the manhole cover position: after the bulk tank truck is parked, the three-axis truss manipulator drives the opening cover structure to move; the ranging sensor on the opening cover structure measures the distance from the top of the tank truck, and the bulk truss manipulator adjusts the distance between the opening cover structure and the top of the cement tank truck 4, so that the object distance of the vision camera 19 is reasonable, and the picture taken is clear; then the opening cover structure moves the full stroke under the drive of the three-axis truss manipulator, the vision camera automatically identifies the position of the front manhole cover and the spatial position coordinates of the corresponding lever, handle and safety hook, and feeds back to the control system; the process of identifying the position of the rear manhole cover is the same as that of the front manhole cover.

[0045] Step three: open the manhole cover: the opening cover structure moves to above the front manhole cover under the drive of the three-axis truss manipulator, the push rod cylinder acts to push the electromagnet down, and the lever is attracted up, then the servo motor drives the rotating frame to act, and the lever is pushed to rotate counterclockwise, and the nut of the front manhole cover is loosened; then the pressure rod cylinder acts to lift the safety hook on the front manhole cover, the grab hand cylinder is driven by the opening cover cylinder to act, the grab hand cylinder grabs the handle, and the opening cover structure moves in combination to pull up the front manhole cover, so that the front manhole cover is opened, and the rear manhole cover is opened in the same way as the front manhole cover.

[0046] Step four: loading: after the rear manhole cover is opened, the dust collecting cover 8 falls into the rear manhole under the guidance of the three-axis truss manipulator. After confirming that the manhole cover is opened and the dust collecting cover is placed in the manhole through the monitoring picture of the monitor 10 observed by the driver through the display screen 7, the driver swipes the card, the telescopic charging barrel 9 falls, and the charging barrel is automatically placed in the front manhole; after confirming that the charging barrel is placed correctly, the driver starts the charging and loading;

[0047] Step five: after the loading is completed, the telescopic charging barrel 9 is automatically lifted, the dust collecting cover 8 is reset to the original position, the opening cover structure executes the closing cover program, and the closing cover process is opposite to the opening cover action; after the closing cover is completed, the system prompts the driver to start the vehicle and leave the loading site, and the whole process of the bulk cement automatic loading is completed.

[0048] The above is only a description of the preferred embodiment of the present application, and the above technical features can be combined to form multiple embodiments of the present application.

[0049] The above describes the present application in conjunction with the drawings, and it is obvious that the specific implementation of the present application is not limited to the above manner, as long as the concept and technical solution of the present application are adopted for various non-essential improvements or the concept and technical solution of the present application are directly applied to other occasions, all within the protection scope of the present application.

Claims

1. A bulk cement automatic truck loading apparatus characterized by: The invention relates to a cement tank truck loading and unloading mechanism, which comprises a truss structure, a vehicle positioning mechanism, a dust collecting and discharging mechanism for loading cement and a cover opening structure for automatically opening the manhole cover on the top of the cement tank truck; the truss structure is located above the cement tank truck, and the cover opening structure and the dust collecting and discharging mechanism are arranged on the truss structure. The truss structure is a three-axis truss manipulator, and the cover opening structure and the dust collecting and discharging mechanism are both mounted on the three-axis truss manipulator; the cover opening structure comprises a distance measuring sensor for detecting the distance between the cover opening structure and the top of the cement tank truck, a pressure rod cylinder for overcoming the safety hook pressed by the reset snap spring on the manhole cover, and a gripper cylinder for grabbing the handle on the manhole cover to open the manhole cover; the cover opening structure further comprises a visual camera for visually detecting the position state of the manhole cover; the cover opening structure further comprises a push rod cylinder, a servo motor and a rotating frame for rotating the lever on the manhole cover to loosen the internal nut, and the end of the push rod cylinder is provided with an electromagnet for attracting the lever on the manhole cover, and the rotating frame is arranged at the end of the servo motor.

2. An automatic bulk cement loading system as claimed in claim 1, wherein: The vehicle positioning mechanism comprises a monitor and a display screen connected to each other, the monitor is arranged on the truss structure, and the display screen is arranged corresponding to the cab of the cement tank truck.

3. The bulk cement automatic loading device according to claim 1, characterized in that: The dust collecting and discharging mechanism comprises a dust collecting pipe mounting plate, a dust collecting cover and an extendable discharging cylinder; the dust collecting pipe mounting plate is arranged on the truss structure, the dust collecting cover is arranged on the dust collecting pipe mounting plate, and the extendable discharging cylinder is arranged above the truss structure.

4. An automatic bulk cement loading system as claimed in claim 3, wherein: The dust collecting pipe mounting plate is arranged on the truss structure in a lifting manner, and the dust collecting pipe mounting plate is provided with a mounting through hole, and the dust collecting cover is arranged on the mounting through hole.

5. An automatic bulk cement loading system as claimed in claim 1, wherein: The truss structure is provided with a lifting plate, and the distance measuring sensor, the push rod cylinder, the servo motor and the gripper cylinder are all arranged on the lifting plate.

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