Ton bag automatic loading and unloading device

Abstract

The invention relates to the technical field of automatic ton bag loading and unloading manipulators, in particular to an automatic ton bag loading and unloading device which comprises multiple sets of supporting rods, a movable mechanism, a lifting mechanism, a clamping and grabbing mechanism and a rotating mechanism. Guide rails are fixedly installed at the top ends of the multiple sets of supporting rods, sawtooth grooves are formed in the outer surfaces of the guide rails, and the movable mechanism is movably installed between the guide rails; by means of the built-in color recognition and depth detection technology, the device can quickly and accurately recognize the positions of the ton bag and the hanging belt of the ton bag in the working environment, and time consumption and errors caused by manual recognition are avoided. And the advanced image processing algorithm further improves the position and shape judgment precision, so that the accuracy and high efficiency of the grabbing operation are ensured.

Description

Technical Field

[0001] The invention relates to the technical field of automatic ton bag loading and unloading manipulators, and in particular to an automatic ton bag loading and unloading device. Background Art

[0002] With the rapid development of industrial production, logistics automation and intelligence have become an important means to improve production efficiency, reduce labor costs, and ensure operational safety. In the chemical, building materials, grain and other industries, the loading and unloading of ton bags (i.e. large woven bags or container bags, usually used to load bulk materials) is an indispensable part of the logistics process. However, traditional ton bag loading and unloading operations often rely on manual operations, which is not only labor-intensive and inefficient, but also has safety hazards, such as frequent industrial accidents caused by heavy object handling.

[0003] In recent years, with the continuous advancement of automation technology, especially the mature application of manipulator technology, the automatic bag grabbing device has gradually become an important solution to the above problems. Although the existing automatic bag grabbing device has achieved automatic loading and unloading of bags to a certain extent, it still has many shortcomings, such as low positioning accuracy, poor grabbing stability, and weak adaptability, which makes it difficult to meet the requirements of efficient, safe, and flexible operations in different scenarios.

[0004] Specifically, traditional automated ton bag grabbing devices have limitations in the following aspects: first, the identification and positioning technology is not advanced enough, making it difficult to accurately identify the position of ton bags and precisely locate the grabbing points in complex environments; second, the design of the grabbing mechanism is unreasonable, which causes the ton bags to slip or be damaged easily during the grabbing process; third, the control system is not highly intelligent and lacks the ability to flexibly respond to ton bags of different specifications and shapes; fourth, the overall structure is complex, the maintenance cost is high, and it is not conducive to rapid deployment and movement. Summary of the invention

[0005] (I) Purpose of the invention

[0006] In view of this, the purpose of the present invention is to provide an automatic loading and unloading device for ton bags, which solves the problems raised in the above background.

[0007] (II) Technical solution

[0008] An automatic loading and unloading device for ton bags comprises a plurality of support rods, a movable mechanism, a lifting mechanism, a clamping mechanism and a rotating mechanism. The top ends of the plurality of support rods are fixedly provided with guide rails, and the outer surfaces of the guide rails are provided with sawtooth grooves. The movable mechanism is movably provided between the guide rails.

[0009] The movable mechanism includes a movable frame, and a plurality of groups of support seats are fixedly installed on the inner wall of the movable frame, and a gear block is movably installed on one end of the plurality of groups of support seats, a second servo motor is fixedly installed on the inner wall of the movable frame, and a second reducer is connected to one end of the second servo motor, a first gear plate is connected to one end of the second reducer, and the first gear plate and the second gear plate are meshed with each other, the second gear plate is installed on the outer surface of the connecting rod, and the two ends of the connecting rod are connected to the gear blocks, and the gear block is installed on the outer surface of the top end of the guide rail;

[0010] The lifting mechanism includes a first servo motor, and the first servo motor is fixedly installed on the top outer surface of the movable frame, the bottom end of the first servo motor is connected to a first reducer, and one end of the first reducer is connected to a lead screw, a lifting seat is movably installed on the outer surface of the lead screw, and multiple groups of limit guide rods are fixedly installed on the outer surface of the movable frame, and the multiple groups of limit guide rods pass through the inner wall of the lifting seat;

[0011] The rotary mechanism includes multiple groups of third servo motors, multiple groups of the third servo motors are fixedly mounted on the outer surface of the bottom end of the lifting seat, and one end of the third servo motor is connected to a first shaft rod, one end of the first shaft rod is connected to a third gear plate, multiple groups of bearing seats are installed at the bottom end of the lifting seat, multiple groups of inner walls of the bearing seats are provided with rotating shafts, and the outer surface of the rotating shaft is installed with a fourth gear plate, the fourth gear plate and the third gear plate are meshed with each other, and a circular plate is fixedly mounted on the bottom end of the fourth gear plate, and the bottom end of the circular plate is connected to a clamp frame

[0012] The clamping mechanism includes a clamp frame, a fourth servo motor is provided on the inner wall of the clamp frame, and one end of the fourth servo motor is connected to a fifth gear plate, three groups of second shaft rods are provided on the inner wall of the clamp frame, and the outer surfaces of the three groups of second shaft rods are respectively installed with a sixth gear plate, a seventh gear plate and an eighth gear plate, the sixth gear plate and the seventh gear plate are both meshed with the fifth gear plate, and the seventh gear plate is meshed with the eighth gear plate, the outer surfaces of the sixth gear plate and the eighth gear plate are both fixedly installed with a linkage rod, and one end of the linkage rod is movably installed with a clamp, a connecting block is installed at the bottom end of the clamp frame, and movable rods are movably installed at both ends of the connecting block, and one end of the movable rod is connected to the clamp.

[0013] Preferably, a plurality of camera groups are arranged at the bottom end of the lifting seat.

[0014] Preferably, a plurality of reinforcement plates are fixedly mounted on the bottom end of the support rod.

[0015] Preferably, reinforcement rods are fixedly installed between the multiple groups of support rods, and the multiple groups of support rods are assembled by welding.

[0016] Preferably, the plurality of groups of cameras are combined with color recognition and depth detection technology.

[0017] Preferably, the above-mentioned motor is controlled by PLC and HMI integration.

[0018] Preferably, the plurality of groups of reinforcement plates are all triangular in shape.

[0019] Preferably, the outer surfaces of the plurality of groups of limit guide rods are all provided with limit plates.

[0020] It can be seen from the above technical solutions that the present application has the following beneficial effects:

[0021] 1. The invention uses built-in color recognition and depth detection technology to enable the device to quickly and accurately identify the position of ton bags and their slings in the working environment, avoiding the time consumption and errors caused by manual identification. Advanced image processing algorithms further improve the accuracy of position and shape judgment, thereby ensuring the accuracy and efficiency of the grabbing operation.

[0022] 2. The invention realizes the left and right movement of the movable mechanism, the smooth lifting and lowering of the lifting mechanism, and the angle adjustment of the clamping mechanism through the precise coordination of multiple servo motors and gear transmission. This design enables the device to flexibly cope with ton bags of different sizes, shapes and positions, enhancing the adaptability and versatility of the equipment.

[0023] 3. The present invention ensures the shortest and interference-free grasping path through automatic trajectory planning and optimization, thereby reducing the safety risks during the operation process. At the same time, the high-rigidity overall frame and stable transmission system of the equipment further improve the reliability and durability of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the first three-dimensional structure of the present invention;

[0025] Figure 2 It is a schematic diagram of the second three-dimensional structure of the present invention;

[0026] Figure 3 It is a schematic diagram of the third three-dimensional structure of the present invention;

[0027] Figure 4 It is a top view schematic diagram of the present invention;

[0028] Figure 5 It is a schematic diagram of the clamping and grasping mechanism of the present invention;

[0029] Figure 6 For the present invention Figure 2 The enlarged schematic diagram at A in the middle;

[0030] Figure 7 For the present invention Figure 3 The enlarged schematic diagram of point B in the middle;

[0031] Figure 8 For the present invention Figure 3 Enlarged schematic diagram at point C in the middle.

[0032] In the figure: 1, reinforcement plate; 2, support rod; 3, guide rail; 4, movable frame; 5, lifting seat; 6, fixture frame; 7, reinforcement rod; 8, limit guide rod; 9, first servo motor; 911, first reducer; 912, lead screw; 411, second servo motor; 412, second reducer; 413, first gear plate; 414, second gear plate; 415, connecting rod; 416, support seat; 417, gear block; 311, third servo motor ; 312, first shaft; 313, third gear plate; 314, bearing seat; 315, fourth gear plate; 316, round plate; 611, fourth servo motor; 612, fifth gear plate; 613, second shaft; 614, connecting block; 615, sixth gear plate; 616, seventh gear plate; 617, eighth gear plate; 618, movable rod; 619, clamping; 620, linkage rod; 511, camera; 711, limit plate. DETAILED DESCRIPTION

[0033] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, and use. It should be understood that in all of these figures, the same or similar reference numerals indicate the same or similar parts and features. The various drawings only schematically represent the concepts and principles of the embodiments of the present disclosure, and do not necessarily show the specific dimensions and proportions of the various embodiments of the present disclosure. Specific parts in specific drawings may be exaggerated to illustrate the relevant details or structures of the embodiments of the present disclosure.

[0034] See also Figure 1-8 , an embodiment provided by the present invention:

[0035] An automatic loading and unloading device for ton bags comprises a plurality of support rods 2, a movable mechanism, a lifting mechanism, a clamping mechanism and a rotating mechanism. Guide rails 3 are fixedly installed on the tops of the plurality of support rods 2, and sawtooth grooves are provided on the outer surfaces of the guide rails 3. A movable mechanism is movably installed between the guide rails 3.

[0036] The movable mechanism includes a movable frame 4, and a plurality of support seats 416 are fixedly installed on the inner wall of the movable frame 4, a gear block 417 is movably installed on one end of the plurality of support seats 416, a second servo motor 411 is fixedly installed on the inner wall of the movable frame 4, and a second reducer 412 is connected to one end of the second servo motor 411, a first gear plate 413 is connected to one end of the second reducer 412, and the first gear plate 413 and the second gear plate 414 are meshed with each other, the second gear plate 414 is installed on the outer surface of a connecting rod 415, and gear blocks 417 are connected to both ends of the connecting rod 415, and the gear block 417 is installed on the outer surface of the top end of the guide rail 3;

[0037] The lifting mechanism includes a first servo motor 9, and the first servo motor 9 is fixedly installed on the top outer surface of the movable frame 4, the bottom end of the first servo motor 9 is connected to a first reducer 911, and one end of the first reducer 911 is connected to a screw rod 912, and a lifting seat 5 is movably installed on the outer surface of the screw rod 912, and multiple groups of limit guide rods 8 are fixedly installed on the outer surface of the movable frame 4, and the multiple groups of limit guide rods 8 pass through the inner wall of the lifting seat 5;

[0038] The rotary mechanism includes a plurality of third servo motors 311, which are fixedly mounted on the outer surface of the bottom end of the lifting seat 5, and one end of the third servo motor 311 is connected to a first shaft 312, and one end of the first shaft 312 is connected to a third gear plate 313, and a plurality of bearing seats 314 are installed at the bottom end of the lifting seat 5, and a rotating shaft is arranged on the inner wall of the plurality of bearing seats 314, and a fourth gear plate 315 is installed on the outer surface of the rotating shaft, and the fourth gear plate 315 is meshed with the third gear plate 313, and a circular plate 316 is fixedly mounted on the bottom end of the fourth gear plate 315, and a fixture frame 6 is connected to the bottom end of the circular plate 316.

[0039] The clamping mechanism includes a clamp frame 6, an inner wall of the clamp frame 6 is provided with a fourth servo motor 611, and one end of the fourth servo motor 611 is connected to a fifth gear plate 612, the inner wall of the clamp frame 6 is provided with three groups of second shaft rods 613, and the outer surfaces of the three groups of second shaft rods 613 are respectively installed with a sixth gear plate 615, a seventh gear plate 616 and an eighth gear plate 617, the sixth gear plate 615 and the seventh gear plate 616 are both meshed with the fifth gear plate 612, and the seventh gear plate 616 is meshed with the eighth gear plate 617, the outer surfaces of the sixth gear plate 615 and the eighth gear plate 617 are both fixedly installed with a linkage rod 620, and one end of the linkage rod 620 is movably installed with a clamp 619, the bottom end of the clamp frame 6 is installed with a connecting block 614, and movable rods 618 are movably installed at both ends of the connecting block 614, and one end of the movable rod 618 is connected to the clamp 619.

[0040] Furthermore, a plurality of cameras 511 are disposed at the bottom of the lifting seat 5. A plurality of cameras 511 are disposed at the bottom of the lifting seat 5. This design significantly enhances the visual monitoring capability of the device.

[0041] Furthermore, a plurality of reinforcement plates 1 are fixedly installed at the bottom end of the support rod 2. The installation of the reinforcement plates 1 significantly enhances the bottom support capacity of the support rod 2, thereby improving the structural stability of the entire device, thereby improving safety during operation and reducing the risk of accidents caused by equipment failure.

[0042] Furthermore, reinforcement rods 7 are fixedly installed between the multiple groups of support rods 2, and the multiple groups of support rods 2 are welded and assembled. The installation of the reinforcement rods 7 effectively connects the multiple groups of support rods 2 into a more stable overall structure, significantly enhancing the overall rigidity of the device. The welding assembly method makes the connection between the support rods 2 and the reinforcement rods 7 more firm and reliable.

[0043] Furthermore, the multiple cameras 511 are combined with color recognition and depth detection technology, and the cameras 511 can sense and analyze the status of the ton bags in real time, and provide accurate feedback to the control system. This helps to optimize the operation process, reduce manual intervention, and improve the level of automation. For example, during the automatic grasping and handling process, the camera can adjust the grasping position and angle in real time to ensure that the ton bags are moved smoothly and accurately.

[0044] Furthermore, the above-mentioned motors are integratedly controlled through PLC and HMI, and trajectory data is optimized using TIA software to ensure the shortest and interference-free grasping path, and to adapt to ton bags of different sizes and shapes. Through a large amount of on-site operation data and visual system images, the system performs machine learning, continuously optimizes the grasping path and operation strategy, and has an automatic deviation correction function. It adjusts the gripper's path in real time according to the deviation data in actual operation to ensure the accuracy and safety of each grasping.

[0045] Furthermore, the multiple sets of reinforcement plates 1 are all triangular in shape, which is an extremely stable shape in geometry and can withstand forces from all directions without being easily deformed. Therefore, designing the reinforcement plates 1 into a triangular shape can significantly enhance the stability of the bottom of the support rod 2, making the entire device more stable and reliable.

[0046] Furthermore, the outer surfaces of the plurality of limit guide rods 8 are all provided with limit plates 711, and the setting of the limit plates 711 limits the offset range of the limit guide rods 8 during the movement process, ensuring that the lifting seat 5 or other moving parts can move smoothly along the predetermined trajectory. This helps to reduce the error and accident risk caused by the offset.

[0047] Working principle: First, the system starts, and uses the built-in color recognition and depth detection technology to quickly scan and identify the ton bags in the working environment. Through advanced image processing algorithms, the position, shape and sling position of the ton bag are accurately determined. After the identification is completed, the control system calculates the best grabbing point and moving path according to the preset parameters to prepare for the subsequent grabbing operation. The control system drives the second servo motor 411 to start, increases the torque through the second reducer 412, and drives the first gear plate 413 to rotate. The meshing action of the first gear plate 413 and the second gear plate 414 allows the connecting rod 415 and the gear blocks 417 at both ends to slide smoothly on the serrated groove of the guide rail 3, realizing the left and right movement of the movable mechanism, that is, the movable frame 4. When the movable frame 4 moves to the preset grabbing position above the ton bag, it stops moving and prepares for the next lifting operation. The control system starts the first servo motor 9 in the lifting mechanism, drives the screw rod 912 to rotate through the first reducer 911, and the rotation of the screw rod 912 drives the lifting seat 5 in The limiting guide rod 8 is guided to rise and fall smoothly until the lifting seat 5 and the clamping mechanism thereunder are accurately aligned with the sling position of the ton bag. After the lifting seat 5 reaches the specified height, the control system starts the third servo motor 311, and drives the third gear plate 313 to rotate through the first shaft rod 312. The meshing action of the third gear plate 313 and the fourth gear plate 315 enables the circular plate 316 and the clamp frame 6 to adjust the angle around the rotation axis to ensure that the clamping mechanism can clamp the ton bag sling at the most appropriate angle. The control system drives the fourth servo motor 611 to start, and through the rotation of the fifth gear plate 612, the sixth gear plate 615, the seventh gear plate 616 and the eighth gear plate 617 are driven to operate in linkage in turn. The linkage rod 620 moves with the rotation of the gear plate, thereby pushing the clamping 619 to open and close along the guidance of the movable rod 618, thereby clamping or releasing the ton bag sling.

[0048] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A ton bag automatic loading and unloading device, characterized by: The invention comprises a plurality of support rods (2), a movable mechanism, a lifting mechanism, a clamping mechanism and a rotating mechanism. The top ends of the plurality of support rods (2) are fixedly mounted with guide rails (3), and the outer surfaces of the guide rails (3) are provided with sawtooth grooves. The movable mechanism is movably mounted between the guide rails (3). The movable mechanism comprises a movable frame (4), and a plurality of groups of support seats (416) are fixedly mounted on the inner wall of the movable frame (4), and a gear block (417) is movably mounted on one end of the plurality of groups of support seats (416); a second servo motor (411) is fixedly mounted on the inner wall of the movable frame (4), and one end of the second servo motor (411) is connected to a second reducer (412), one end of the second reducer (412) is connected to a first gear plate (413), and the first gear plate (413) and the second gear plate (414) are meshed with each other, the second gear plate (414) is mounted on the outer surface of a connecting rod (415), and both ends of the connecting rod (415) are connected to gear blocks (417), and the gear block (417) is mounted on the outer surface of the top end of the guide rail (3); The lifting mechanism comprises a first servo motor (9), and the first servo motor (9) is fixedly mounted on the top outer surface of the movable frame (4); the bottom end of the first servo motor (9) is connected to a first reducer (911), and one end of the first reducer (911) is connected to a lead screw (912); a lifting seat (5) is movably mounted on the outer surface of the lead screw (912); a plurality of groups of limiting guide rods (8) are fixedly mounted on the outer surface of the movable frame (4), and the plurality of groups of limiting guide rods (8) pass through the inner wall of the lifting seat (5); The rotary mechanism comprises a plurality of groups of third servo motors (311), the plurality of groups of third servo motors (311) are fixedly mounted on the outer surface of the bottom end of the lifting seat (5), and one end of the third servo motor (311) is connected to a first shaft (312), and one end of the first shaft (312) is connected to a third gear plate (313), a plurality of groups of bearing seats (314) are mounted on the bottom end of the lifting seat (5), a rotating shaft is arranged on the inner wall of the plurality of groups of bearing seats (314), and a fourth gear plate (315) is mounted on the outer surface of the rotating shaft, the fourth gear plate (315) and the third gear plate (313) are meshed with each other, and a circular plate (316) is fixedly mounted on the bottom end of the fourth gear plate (315), and the bottom end of the circular plate (316) is connected to a clamp frame (6) The clamping mechanism comprises a clamp frame (6), the inner wall of the clamp frame (6) is provided with a fourth servo motor (611), and one end of the fourth servo motor (611) is connected to a fifth gear plate (612), the inner wall of the clamp frame (6) is provided with three groups of second shaft rods (613), and the outer surfaces of the three groups of second shaft rods (613) are respectively installed with a sixth gear plate (615), a seventh gear plate (616) and an eighth gear plate (617), and the sixth gear plate (615) and the seventh gear plate (616) are both connected to the fifth gear plate (612). The wheel plates (612) are meshed with each other, and the seventh gear plate (616) and the eighth gear plate (617) are meshed with each other. The outer surfaces of the sixth gear plate (615) and the eighth gear plate (617) are fixedly mounted with a linkage rod (620), and one end of the linkage rod (620) is movably mounted with a clamp (619). The bottom end of the clamp frame (6) is mounted with a connecting block (614), and both ends of the connecting block (614) are movably mounted with movable rods (618), and one end of the movable rod (618) is connected to the clamp (619).

2. The automatic loading and unloading device for ton bags according to claim 1 is characterized in that: A plurality of camera groups (511) are arranged at the bottom end of the lifting seat (5).

3. The automatic loading and unloading device for ton bags according to claim 1 is characterized in that: A plurality of sets of reinforcement plates (1) are fixedly mounted on the bottom ends of the support rods (2).

4. The automatic loading and unloading device for ton bags according to claim 1 is characterized in that: A reinforcement rod (7) is fixedly installed between the plurality of support rods (2), and the plurality of support rods (2) are assembled by welding.

5. The automatic loading and unloading device for ton bags according to claim 2 is characterized in that: The plurality of cameras (511) are combined with color recognition and depth detection technology.

6. The automatic loading and unloading device for ton bags according to claim 1 is characterized by: The motor described above is controlled through PLC and HMI integration.

7. The automatic loading and unloading device for ton bags according to claim 3 is characterized by: The plurality of reinforcement plates (1) are all triangular in shape.

8. The automatic loading and unloading device for ton bags according to claim 1 is characterized by: The outer surfaces of the plurality of groups of limit guide rods (8) are all provided with limit plates (711).

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