Double-robot automatic loading system and loading method

Abstract

The invention belongs to the technical field of bagged material truck loading, and particularly relates to a double-robot automatic truck loading system and a truck loading method. A double-robot automatic loading system comprises a long-strip-shaped rack, two rails are fixed to the rack in the length direction, a belt conveying line is arranged on the rack in the length direction, and the belt conveying line is located between the two rails; the track is provided with two same loading robots capable of moving along the track, the two loading robots are arranged front and back along the belt conveying line, the loading robots are located above the belt conveying line, and bagged materials can penetrate through the space between the loading robots and the belt conveying line. The loading robot has the beneficial effects that compared with the prior art, the material shoveling belt conveyor is arranged, one loading robot can be parked on the two sides of the belt conveying line at the same time, the two loading robots can walk while loading is conducted, and efficiency is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of loading bagged materials onto vehicles, and particularly relates to a dual-robot automatic loading system and a loading method. Background Art

[0002] Bagged materials are one of the main forms of bulk logistics shipments in the chemical industry, such as products like chemical fertilizers, plastic pellets, and chemical raw materials. Traditional loading methods mainly rely on manual operations, which are not only inefficient but also pose certain safety hazards. In addition, due to the special nature of chemical materials, such as flammability, explosiveness, and toxicity, strict safety operation procedures need to be followed during manual operations, otherwise serious safety accidents may occur.

[0003] Therefore, how to improve the loading efficiency and safety of bagged materials in the chemical industry has become an urgent problem to be solved in the industry. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: how to design a dual-robot automatic loading system to improve the loading efficiency.

[0005] The specific solution is as follows: A dual-robot automatic loading system includes a long strip-shaped frame. Two tracks are fixed along the length direction of the frame. A belt conveyor is provided along the length direction of the frame, and the belt conveyor is located between the two tracks. Two identical loading robots capable of moving along the tracks are provided on the tracks. The two loading robots are arranged front and back along the belt conveyor. The loading robots are located above the belt conveyor, so that the space between the loading robots and the belt conveyor allows bagged materials to pass through, that is, the loading robots do not affect the movement of bagged materials on the belt conveyor. The loading robot includes a loading robotic arm, and at least one clamp is provided at the outer end of the loading robotic arm. The end of the loading robot is hinged to the end of a material-shoveling belt conveyor. The cylinder body end of an adjusting oil cylinder is hinged to the loading robot, and the piston end of the adjusting oil cylinder is hinged to the material-shoveling belt conveyor. A waiting-to-stack machine is provided on the loading robot. The waiting-to-stack machine includes a plurality of parallel rotating rollers. The space between two adjacent rotating rollers is a clamping jaw channel. The proximal end of the waiting-to-stack machine matches the position of the material-shoveling belt conveyor. The clamp includes two symmetrically arranged clamping parts, and each clamping part fixes a plurality of parallel clamping jaws.

[0006] Three clamps are arranged side by side, and the middle one of the clamps is located directly below the loading robotic arm.

[0007] A plurality of convex strips are fixed on the outer surface of the rotating roller.

[0008] A baffle is provided at the distal end of the waiting-to-stack machine.

[0009] The belt conveyor line includes a feeding belt conveyor, a shaping belt conveyor, a buffer belt conveyor, and a main belt conveyor connected in series in sequence. A shaping machine is provided at the shaping belt conveyor, and the loading robot is located above the main belt conveyor.

[0010] Both the buffer belt conveyor and the main belt conveyor include multiple unit sections.

[0011] A loading method using the above double-robot automatic loading system includes the following steps: S10. Park a vehicle on each side of the frame 10. S20. After the upstream equipment puts the bagged materials on the feeding belt conveyor, the bagged materials enter the shaping belt conveyor for shaping, and then enter the buffer belt conveyor and the main belt conveyor in sequence. S30. The front and rear loading robots respectively load their respective vehicles, including steps and steps carried out alternately. S40. The front loading robot loads the vehicle, including steps S41 - S44; S41. The loading robot is located at a suitable position on the main belt conveyor, adjusts the inclination angle of the material-shoveling belt conveyor so that there is a gap between the material-shoveling belt conveyor and the main belt conveyor; S42. When the bagged materials on the main belt conveyor reach the lower end of the material-shoveling belt conveyor, they are lifted to the stacking machine by the material-shoveling belt conveyor; S43. The loading robot controls the fixture to reach above the bagged materials to complete the clamping of the bagged materials; S44. The loading robot controls the fixture to reach above the vehicle and unloads the materials; S50. The rear loading robot loads the vehicle, including steps S51 - S54; S51. The rear loading robot is located at a suitable position on the main belt conveyor, adjusts the inclination angle of the material-shoveling belt conveyor so that there is a gap between the material-shoveling belt conveyor and the main belt conveyor; S52. The front loading robot is located at a suitable position on the main belt conveyor, adjusts the inclination angle of the material-shoveling belt conveyor so that the space between the material-shoveling belt conveyor and the main belt conveyor can allow the bagged materials to pass through; when the bagged materials on the main belt conveyor of the rear loading robot reach the lower end of the material-shoveling belt conveyor, they are lifted to the stacking machine by the material-shoveling belt conveyor; S53. The loading robot controls the fixture to reach above the bagged materials to complete the clamping of the bagged materials; S54. The loading robot controls the fixture to reach above the vehicle and unloads the materials; S60. Repeat step S30 until the end.

[0012] In step S30, the gripper is located below the rotating roller, and when it is lifted upward from the gripper channel, the bagged materials are lifted; In step S20, the buffer belt conveyor discharges three bagged materials each time.

[0013] Beneficial effects: Compared with the prior art, the present invention is provided with a material shoveling belt conveyor, and a vehicle can be parked on both sides of the belt conveying line at the same time, so that two loading robots can walk and load while walking, with relatively high efficiency. Description of the Drawings

[0014] Figure 1 is a schematic diagram of the present invention.

[0015] Figure 2 is Figure 1 an enlarged schematic diagram of the right end portion of

[0016] Figure 3 is Figure 1 an enlarged schematic diagram of the left end portion of

[0017] Figure 4 is Figure 3 an enlarged schematic diagram of the gripper area in

[0018] Figure 5 is a schematic diagram of the use state of the present invention. Detailed Embodiments

[0019] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the present invention.

[0020] As Figures 1-3 , a double-robot automatic loading system includes a long strip-shaped frame 10, two tracks 11 are fixed along the length direction of the frame 10, a belt conveying line 20 is provided along the length direction of the frame 10, and the belt conveying line 20 is located between the two tracks 11.

[0021] As Figures 1-3 , two identical loading robots 30 capable of moving along the track 11 are provided on the track 11, the two loading robots 30 are arranged front and back along the belt conveying line 20, and the loading robots 30 are located above the belt conveying line 20, so that the space between the loading robots 30 and the belt conveying line 20 can allow the bagged materials to pass through. That is to say, the loading robots 30 will not affect the movement of the bagged materials on the belt conveying line 20.

[0022] The loading robot 30 includes a loading robotic arm 31, and at least one clamp 32 is provided at the outer end of the loading robotic arm 31.

[0023] The end of the loading robot 30 is hinged to the end of the material shoveling belt conveyor 33, the cylinder body end of the adjusting oil cylinder 34 is hinged to the loading robot 30, and the piston end of the adjusting oil cylinder 34 is hinged to the material shoveling belt conveyor 33. When the piston of the adjusting oil cylinder 34 expands and contracts, the inclination angle of the material shoveling belt conveyor 33 can be adjusted.

[0024] As Figures 3-4, a waiting-to-be-coded machine 38 is provided on the loading robot 30. The waiting-to-be-coded machine 38 includes a plurality of parallel rotating rollers 36. The space between two adjacent rotating rollers 36 is a gripper channel 37. The proximal end (the end close to the incoming material direction) of the waiting-to-be-coded machine 38 is matched with the position of the material-shoveling belt conveyor 33, so that the bagged materials can move from the material-shoveling belt conveyor 33 onto the waiting-to-be-coded machine 38.

[0025] As Figure 4 , the fixture 32 includes two symmetrically arranged clamping parts 321, and each clamping part 321 fixes a plurality of parallel grippers 322.

[0026] As Figures 1-3 , in order to improve the efficiency, three fixtures 32 are arranged side by side, and the middle one of the fixtures 32 is located directly below the loading robotic arm 31.

[0027] As Figure 4 , in order to increase the friction coefficient of the rotating roller 36, a plurality of ridges 361 are fixed on the outer surface of the rotating roller 36, which can increase the friction force between the rotating roller 36 and the bagged materials.

[0028] As Figure 3 , in order to prevent the bagged materials from falling off the waiting-to-be-coded machine 38, a baffle 39 is provided at the distal end (the end far from the incoming material direction) of the waiting-to-be-coded machine 38, and the baffle 39 is fixed on the loading robot 30.

[0029] As Figures 1-2 , the belt conveyor line 20 includes a receiving belt conveyor 21, a shaping belt conveyor 22, a buffer belt conveyor 23, and a main belt conveyor 24 connected in series in sequence. A shaping machine is provided at the shaping belt conveyor 22, and the loading robot 30 is located above the main belt conveyor 24.

[0030] The receiving belt conveyor 21 cooperates with the upstream equipment and is the starting point of the bagged materials; the shaping machine can shape the bagged materials to meet the loading requirements; the buffer belt conveyor can adjust the feeding quantity and speed of the bagged materials; the main belt conveyor 24 mainly cooperates with the material-shoveling belt conveyor 33.

[0031] To prevent slipping, both the buffer belt conveyor 23 and the main belt conveyor 24 include a plurality of unit segments.

[0032] The specific working process is as follows: S10. A vehicle 90 is parked on both sides of the frame 10; S20. After the upstream equipment puts the bagged materials on the receiving belt conveyor 21, the bagged materials enter the shaping belt conveyor 22 for shaping and then enter the buffer belt conveyor 23 and the main belt conveyor 24 in sequence; S30. The front and rear loading robots 30 respectively load their respective vehicles 90, including steps 40 and 50 carried out alternately; S40. Loading by the front loading robot 30, including steps S41 - S44; S41. The loading robot 30 is located at a suitable position on the main conveyor belt 24, adjusts the inclination angle of the material loading conveyor belt 33, and makes there be a gap between the material loading conveyor belt 33 and the main conveyor belt 24; S42. When the bagged materials on the main conveyor belt 24 reach the lower end of the material loading conveyor belt 33, they are lifted by the material loading conveyor belt 33 to the stacking machine 38; S43. The loading robot 30 controls the fixture 32 to reach above the bagged materials, and makes the fixture 32 complete the clamping of the bagged materials; S44. The loading robot 30 controls the fixture 32 to reach above the vehicle and unloads the materials; S50. Loading by the rear loading robot 30, including steps S51 - S54; S51. The rear loading robot 30 is located at a suitable position on the main conveyor belt 24, adjusts the inclination angle of the material loading conveyor belt 33, and makes there be a gap between the material loading conveyor belt 33 and the main conveyor belt 24; S52. The front loading robot 30 is located at a suitable position on the main conveyor belt 24, adjusts the inclination angle of the material loading conveyor belt 33, and makes the space between the material loading conveyor belt 33 and the main conveyor belt 24 enable the bagged materials to pass through; when the bagged materials on the main conveyor belt 24 of the rear loading robot 3 reach the lower end of the material loading conveyor belt 33, they are lifted by the material loading conveyor belt 33 to the stacking machine 38; S53. The loading robot 30 controls the fixture 32 to reach above the bagged materials, and makes the fixture 32 complete the clamping of the bagged materials; S54. The loading robot 30 controls the fixture 32 to reach above the vehicle and unloads the materials; S60. Repeat step S30 until the end.

[0033] Among them, in step S30, the jaw 322 is located below the roller 36. When it is lifted upward from the jaw channel 37, the bagged materials are lifted. At this time, there are two technical effects: First, the jaw 322 cooperates with the jaw channel 37, and the jaw 322 and the roller 36 will not interfere; Second, when the jaw 322 lifts the bagged materials, the jaw 322 is similar to the fingers of two hands to lift the bagged materials, and the clamping part 321 is similar to the palm to protect on the side, and the bagged materials are relatively safe.

[0034] In order to facilitate the cooperation with the three fixtures 32, in step S20, the buffer conveyor belt 23 delivers three bagged materials each time.

[0035] Features of this application: 1. Replace manual loading, which is safe, economical, environmentally friendly and efficient; 2. Cooperate with software, and the stack shape is neat, beautiful, safe and stable; 3. Cooperate with software, wide application range, can be stably loaded on high-sided trucks, tie-rod trucks, flatbed trucks, and standard trucks with heights ranging from 4.2m to 13.5m. The track can also be extended to adapt to vehicles with longer dimensions; 4. The material grabbing position of the loading robot is on the staging machine. The staging machine moves with the robot on the external axis, and the material grabbing position is relatively fixed. After the robot reaches the specified loading position, it directly performs the loading action without any redundant actions on the external axis; 5. The staging machine cooperates with the material shoveling belt conveyor, grabbing line, etc. No matter where the staging machine moves with the robot on the track, the material can be conveyed from the main conveyor belt to the staging machine; 6. The staging machine can be made with 3 material package buffer positions (or 2 material package buffer positions); 7. The efficiency of a single robot is significantly improved. A single robot can grab 3 packages of materials at a time, and the loading efficiency is 1000 - 1200 packages / h (or 2 packages of materials, and the loading efficiency is 800 - 900 packages / h), and it can be matched with 1 set of automatic packaging machine; 8. The three-jaw fixture can grab 3 packages of materials at a time. The 3 jaws can be opened separately, and the 3 packages of materials can be discharged at one time or one by one (the two-jaw fixture can grab 2 packages of materials at a time. The 2 jaws can be opened separately, and the 2 packages of materials can be discharged at one time or one by one); 9. It can achieve simultaneous loading on both sides, reducing the vehicle parking and waiting time.

[0036] For others, refer to the prior art and will not be elaborated here.

[0037] The technical means disclosed in the solution of the present invention are not limited to the technical means disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A dual-robot automatic loading system, comprising a long-strip-shaped frame (10), two tracks (11) are fixed along the length direction of the frame (10), and a belt conveyor line (20) is arranged along the length direction of the frame (10), characterized in that: The belt conveyor line (20) is located between two tracks (11); On the tracks (11), there are two identical loading robots (30) that can move along them. The two loading robots (30) are arranged front and back along the belt conveyor line (20). The loading robots (30) are located above the belt conveyor line (20), so that the space between the loading robots (30) and the belt conveyor line (20) allows the bagged materials to pass through; The loading robot (30) includes a loading robotic arm (31), and at least one fixture (32) is provided at the outer end of the loading robotic arm (31); The end of the loading robot (30) is hinged to the end of the material shoveling belt conveyor (33). The cylinder body end of the adjusting oil cylinder (34) is hinged to the loading robot (30), and the piston end of the adjusting oil cylinder (34) is hinged to the material shoveling belt conveyor (33); A staging machine (38) is provided on the loading robot (30). The staging machine (38) includes a plurality of parallel rotating rollers (36). The space between two adjacent rotating rollers (36) is the jaw channel (37). The proximal end of the staging machine (38) is matched with the position of the material shoveling belt conveyor (33); The fixture (32) includes two symmetrically arranged clamping parts (321), and each clamping part (321) fixes a plurality of parallel clamping jaws (322).

2. The double-robot automatic loading system according to claim 1, characterized in that: There are three fixtures (32) arranged side by side, and the middle one of them is located directly below the loading robotic arm (31).

3. The dual-robot automatic loading system according to claim 2, characterized in that: A plurality of ribs (361) are fixed on the outer surface of the rotating roller (36).

4. The dual-robot automatic loading system according to claim 3, wherein: A baffle (39) is provided at the distal end of the staging machine (38).

5. The double-robot automatic loading system according to claim 4, wherein: The belt conveyor line (20) includes a feeding belt conveyor (21), a shaping belt conveyor (22), a buffer belt conveyor (23), and a main belt conveyor (24) connected in series in sequence. A shaping machine is provided at the shaping belt conveyor (22). The loading robot (30) is located above the main belt conveyor (24).

6. The dual-robot automatic loading system according to claim 5, wherein: Both the buffer belt conveyor (23) and the main belt conveyor (24) include a plurality of unit sections.

7. A loading method, characterized in that: Using the double-robot automatic loading system as described in claim 1, it includes the following steps: S10. A vehicle (90) is parked on both sides of the frame (10); S20. After the upstream equipment places the bagged materials on the feeding belt conveyor (21), the bagged materials enter the shaping belt conveyor (22) for shaping, and then enter the buffer belt conveyor (23) and the main belt conveyor (24) in sequence; S30. The front and rear loading robots (30) respectively load their respective vehicles (90), including steps 40 and 50 carried out alternately; S40. The front loading robot (30) loads, including steps S41 - S44; S41. This loading robot (30) is located at a suitable position on the main belt conveyor (24), adjusts the inclination angle of the material shoveling belt conveyor (33) so that there is a gap between the material shoveling belt conveyor (33) and the main belt conveyor (24); S42. When the bagged materials on the main belt conveyor (24) reach the lower end of the material shoveling belt conveyor (33), they are lifted to the staging machine (38) by the material shoveling belt conveyor (33); S43. This loading robot (30) controls the fixture (32) to reach above the bagged materials, so that the fixture (32) completes the clamping of the bagged materials; S44. The loading robot (30) controls the fixture (32) to reach above the vehicle and unload the materials. S50. The subsequent loading robot (30) loads the vehicle, including steps S51 - S54. S51. The subsequent loading robot (30) is located at a suitable position on the main conveyor belt (24), adjusts the inclination angle of the material - shoveling conveyor belt (33), and makes a gap between the material - shoveling conveyor belt (33) and the main conveyor belt (24). S52. The previous loading robot (30) is located at a suitable position on the main conveyor belt (24), adjusts the inclination angle of the material - shoveling conveyor belt (33), and makes the space between the material - shoveling conveyor belt (33) and the main conveyor belt (24) large enough for the bagged materials to pass through. When the bagged materials on the main conveyor belt (24) of the subsequent loading robot (3) reach the lower end of the material - shoveling conveyor belt (33), they are lifted to the stacking machine (38) by the material - shoveling conveyor belt (33). S53. The loading robot (30) controls the fixture (32) to reach above the bagged materials and makes the fixture (32) complete the clamping of the bagged materials. S54. The loading robot (30) controls the fixture (32) to reach above the vehicle and unload the materials. S60. Repeat step S30 until the end.

8. The loading method according to claim 7, characterized in that: In step S30, the jaw (322) is located below the rotating roller (36), and when it is lifted upward from the jaw channel (37), the bagged materials are lifted. In step S20, the buffer conveyor belt (23) discharges three bagged materials each time.

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