Top intelligent loading system

Abstract

The invention discloses a top intelligent truck loading system, and belongs to the technical field of intelligent truck loading systems, a six-axis mechanical arm realizes automatic identification and grabbing through a control system, and the top intelligent truck loading system is characterized in that the lower part of the six-axis mechanical arm is mounted on a pallet through a base, and a visual camera and a mechanical arm quick-change clamp are mounted at the end part of the six-axis mechanical arm; the crane pipe stand column is installed on the stack platform, the liquid-phase crane pipe and the gas-phase crane pipe are installed on the crane pipe stand column, grabbing positioning shafts are arranged on the liquid-phase crane pipe and the gas-phase crane pipe, a first pneumatic ball valve and a liquid-phase automatic control connector are installed on the liquid-phase crane pipe, and a second pneumatic ball valve and a gas-phase automatic control connector are installed on the gas-phase crane pipe. The quick-change clamp bracket is mounted on the stack platform, and a vehicle end male joint blanking cap quick-change clamp, a gas / liquid-phase crane pipe quick-change clamp, an interface valve quick-change clamp and a box cover quick-change clamp are placed on the quick-change clamp bracket, so that the technical problem that a tank opening and a box cover are opened by manual operation in a top loading system to be connected with a quick-change joint is solved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent loading system, and particularly relates to a top intelligent loading system. BACKGROUND

[0002] The existing top loading system in the market is manually operated to open the tank box cover, remove the male joint plug cover of the gas / liquid phase D type quick change joint, install the vertical pipe gas / liquid phase quick change joint into the male joint of the vehicle end and lock it, open the gas / liquid phase interface control valve of the vehicle end, open the vertical pipe ball valve, and start the loading operation. After the operation is completed, the gas / liquid phase quick change joint is manually disconnected from the male joint of the vehicle end, and then the male joint plug cover of the gas / liquid phase D type quick change joint is covered and locked, the tank box cover is closed and locked, and the manual operation has certain flexibility and low cost, but also has many shortcomings, such as:

[0003] Safety risk: high risk of operation failure, manual loading crane pipe completely depends on manual operation, and in the connection, opening and closing links, the operator may cause operation failure due to fatigue, negligence and insufficient skills, such as liquid leakage caused by incorrect connection of the crane pipe, or misoperation of the valve during loading and unloading;

[0004] Work efficiency: the manual operation of the manual loading crane pipe takes a long time, such as alignment, connection and disassembly, compared with the automatic loading crane pipe, the manual operation takes more time to load and unload one vehicle of materials, which reduces the overall loading efficiency and affects the logistics turnover speed;

[0005] High labor intensity: manual operation requires workers to frequently climb, carry and twist the valve, which is physical labor, especially in the case of loading and unloading large storage tanks or frequent operation, workers are prone to fatigue, the tank box cover and the male joint plug cover of the D type quick change joint usually have a certain weight, especially the cover of the large tank, which requires the operator to spend a lot of effort to open or remove, with the increase of labor intensity, the work efficiency will gradually decrease, and long-term high-intensity labor may also cause worker's physical strain;

[0006] Therefore, the top intelligent loading system and the special quick change clamp for loading and unloading vehicles are developed to replace the existing technology. SUMMARY

[0007] The application aims to provide a top intelligent loading system to solve the technical problem of manually opening the tank box cover and connecting the quick change joint.

[0008] The above technical objectives of the present invention are achieved through the following technical solutions: a top intelligent loading system, including a six-axis robotic arm, which is controlled by an integrated control cabinet to realize automatic identification and grasping, characterized in that the lower part of the six-axis robotic arm is installed on the stacking platform through a base, a visual camera and a robotic arm quick-change fixture are installed on the end of the six-axis robotic arm, a crane pipe column is installed on the stacking platform, a liquid phase crane pipe and a gas phase crane pipe are installed on the crane pipe column, a grasping positioning axis is provided on the liquid phase crane pipe and the gas phase crane pipe, a first pneumatic ball valve and a liquid phase automatic control joint are installed on the liquid phase crane pipe, and a second pneumatic ball valve and a gas phase automatic control joint are installed on the gas phase crane pipe;

[0009] The quick-change fixture bracket is installed on the stacking platform, and the car end male connector plug quick-change fixture, gas / liquid phase crane quick-change fixture, interface valve quick-change fixture and box cover quick-change fixture are placed on the quick-change fixture bracket.

[0010] In the above technical solution, the base of the six-axis robotic arm is fixedly installed on the platform of the loading and unloading site. The six-axis robotic arm is provided with multiple joint controllers and six-axis robotic arm sensors. The six-axis robotic arm sensors are used to sense the position, shape and other information of each target object during the loading process. The joint controllers are used to control the six-axis robotic arm to perform precise movements according to control instructions, so as to realize the functions of automatically opening the tank cover when replacing different quick-change fixtures, automatically removing the gas / liquid phase quick-change joint male joint plugging cover, automatically installing the gas / liquid phase quick-change fixture to the vehicle-end male joint and locking it, automatically opening the vehicle-end gas / liquid phase interface control valve, automatically disengaging the gas / liquid phase quick-change joint from the vehicle-end male joint, and then automatically covering the gas / liquid phase quick-change joint male joint plugging cover and locking it, and automatically closing the tank cover;

[0011] The control system consists of a central controller, a visual guidance system, a visual algorithm system module, a visual controller, a PLC controller, data storage, and an intelligent visual AI recognition system. Multiple joint controllers are controlled by the central controller. The central controller receives information from the six-axis robotic arm sensor and generates control instructions according to task requirements. The joint controllers achieve automated production goals according to the control instructions of the central controller.

[0012] Furthermore: the interface valve quick-change fixture includes a first quick-change connector, a first transition plate is loaded on the upper part of the first quick-change connector, a first horizontal clamp is installed on the upper part of the first transition plate, the first horizontal clamp is used to clamp the bracket, the bracket moves horizontally along the first horizontal clamp, and the clamp is connected to the bracket through a rotating shaft.

[0013] Furthermore: the box cover quick-change fixture includes a second quick-change joint, a second transition plate is loaded on the upper part of the second quick-change joint, a second horizontal clamp is installed on the upper part of the second transition plate, the second horizontal clamp is used to clamp the hook and the dial head, and the hook and the dial head move horizontally along the second horizontal clamp.

[0014] Furthermore: the gas / liquid phase crane pipe quick-change fixture includes a third quick-change joint, a third transition plate is loaded on the top of the third quick-change joint, a three-jaw clamp is installed on the top of the third transition plate, the three-jaw clamp is used to clamp the claw, and the claw moves along the three-jaw clamp.

[0015] Compared with the prior art, the present invention has the following advantages: various components that meet the needs of on-site loading are integrated and installed on the on-site platform, and the position marks of various components are recorded in the intelligent control system. At the same time, according to the six-axis robotic arm, fully automatic filling is realized. Through the designed vehicle-end male connector cover quick-change fixture, gas / liquid phase quick-change fixture, interface valve quick-change fixture and box cover quick-change fixture, different fixtures are automatically replaced according to the instructions of the intelligent control system to realize automatic opening of the tank mouth box cover, automatic removal of the gas / liquid phase D-type quick connector male connector cover, automatic installation of the crane pipe gas / liquid phase quick connector into the vehicle-end male connector and locking, automatic opening of the vehicle-end gas / liquid phase interface control valve, automatic disengagement of the gas / liquid phase quick connector from the vehicle-end male connector, and then automatic covering and locking of the gas / liquid phase D-type quick connector male connector cover, and automatic closing of the tank mouth box cover and locking functions, it has better applicability and promotion. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The structure of the present invention Figure 1 ;

[0017] Figure 2 The structure of the present invention Figure 2

[0018] Figure 3 This is a structural diagram of the interface valve quick-change fixture of the present invention;

[0019] Figure 4 This is a structural diagram of the box cover quick-change fixture of the present invention;

[0020] Figure 5 It is a structural diagram of the gas phase crane quick-change fixture of the present invention.

[0021] Figure: 1. Six-axis robotic arm; 2. Vision camera; 3. Robotic arm quick-change fixture; 5. Grasping and positioning axis; 6. Liquid phase automatic control connector; 7. Gas phase automatic control connector; 8. Liquid phase crane pipe; 9. Gas phase crane pipe; 10. Crane pipe column; 11. Quick-change fixture bracket; 12. Quick-change fixture for the end male connector plug; 13. Quick-change fixture for the gas / liquid phase crane pipe; 14. Quick-change fixture for the interface valve; 15. Quick-change fixture for the box cover; 16. First quick-change connector ; 17. First transition plate; 18. First horizontal clamp; 19. Bracket; 20. Rotating shaft; 21. Clamp; 22. Second quick-change connector; 23. Second transition plate; 24. Second horizontal clamp; 25. Hook; 26. Dial head; 27. Third quick-change connector; 28. Third transition plate; 29. ​​Three-jaw clamp; 30. Claw; 31. First pneumatic ball valve; 34. Base; 35. Integrated control cabinet; 36. Second pneumatic ball valve. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0023] In the description of the invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the first embodiment of the present invention, Figure 1-Figure 5 As shown, a top intelligent loading system includes a six-axis robotic arm 1, which is controlled by an integrated control cabinet 35 to achieve automatic identification and grasping. It is characterized in that the lower part of the six-axis robotic arm 1 is mounted on the stacking platform through a base 34, a visual camera 2 and a robotic arm quick-change fixture 3 are mounted on the end of the six-axis robotic arm 1, a crane column 10 is mounted on the stacking platform, a liquid phase crane pipe 8 and a gas phase crane pipe 9 are mounted on the crane column 10, a grasping positioning axis 5 is provided on the liquid phase crane pipe 8 and the gas phase crane pipe 9, a first pneumatic ball valve 31 and a liquid phase automatic control joint 6 are installed on the liquid phase crane pipe 8, and a second pneumatic ball valve 36 and a gas phase automatic control joint 7 are installed on the gas phase crane pipe 9;

[0025] A quick-change fixture bracket 11 is installed on the platform, and a car end male connector plugging quick-change fixture 12, a gas / liquid phase crane quick-change fixture 13, an interface valve quick-change fixture 14 and a box cover quick-change fixture 15 are placed on the quick-change fixture bracket 11;

[0026] The interface valve quick-change fixture 14 includes a first quick-change connector 16, a first transition plate 17 is mounted on the upper portion of the first quick-change connector 16, a first horizontal clamp 18 is mounted on the upper portion of the first transition plate 17, the first horizontal clamp 18 is used to clamp a bracket 19, the bracket 19 moves horizontally along the first horizontal clamp 18, and the bracket 19 is connected to a clamp 21 via a rotating shaft 20;

[0027] The box cover quick-change fixture 15 includes a second quick-change joint 22, a second transition plate 23 is mounted on the upper portion of the second quick-change joint 22, a second horizontal clamp 24 is mounted on the upper portion of the second transition plate 23, and the second horizontal clamp 24 is used to clamp a hook 25 and a shift head 26. The hook 25 and the shift head 26 move horizontally along the second horizontal clamp 24;

[0028] The gas / liquid phase crane quick-change fixture 13 includes a third quick-change joint 27, a third transition plate 28 is loaded on the upper part of the third quick-change joint 27, a three-claw clamp 29 is installed on the upper part of the third transition plate 28, the three-claw clamp 29 is used to clamp the claw 30, and the claw 30 moves along the three-claw clamp 29.

[0029] By adopting the above technical solution, the present solution realizes the following loading process for on-site automated filling: the tank truck driver parks the vehicle in the loading area, turns off the vehicle and stores the key in the key manager; after the loading and unloading operator checks that there is nothing wrong with the tank truck, the operator issues a control command in the operation room or on-site control box; the six-axis robotic arm 1 automatically installs the tank cover quick-change fixture 15, moves to the top of the tank truck, and uses the visual camera 2 to capture an image of the tank mouth and tank cover and feeds it back to the central processor of the control system; after pre-processing, feature extraction, target recognition and positioning, hand-eye calibration and path planning are performed on the captured image, the six-axis robotic arm 1 drives the tank cover quick-change fixture 15 to open the tank mouth and tank cover according to the command issued by the central processor;

[0030] After the cover is opened, it automatically resets, automatically replaces the vehicle-end male connector plug cover quick-change fixture 12 in order, and then moves to the top of the tank mouth. The image of the gas / liquid phase male connector plug cover on the tank truck is collected through the visual camera 2 and fed back to the central processor of the control system. After pre-processing, feature extraction, target recognition and positioning, hand-eye calibration and path planning of the collected image, the six-axis robot arm 1 drives the vehicle-end male connector plug cover quick-change fixture 12 according to the instructions issued by the central processor to automatically clamp the gas / liquid phase male connector plug cover on the tank truck and operate the plug cover handle to remove the plug cover and place it in the designated position;

[0031] After placing, the automatic reset gas / liquid phase crane pipe quick change clamp 13 moves to the top of the tank mouth, the visual camera 2 collects the image of the gas / liquid phase D type male joint on the tank truck and feeds back to the central processor of the control system, the collected image is preprocessed, feature extraction, target recognition and positioning, hand-eye calibration and path planning, the six-axis robot arm 1 drives the gas / liquid phase crane pipe quick change clamp 13 to automatically clamp and grab the positioning shaft 5 according to the instruction of the central processor, and the liquid phase automatic control joint 6 and the gas phase automatic control joint 7 at the end of the grabbing positioning shaft 5 are installed into the gas / liquid phase D type male joint on the tank truck;

[0032] The first pneumatic ball valve 31 and the second pneumatic ball valve 36 are automatically opened according to the stop sequence, the six-axis robot arm 1 moves to the top of the tank mouth after replacing the interface valve quick change clamp 14, the visual camera 2 collects the image of the gas / liquid phase interface switch valve on the tank truck and feeds back to the central processor of the control system, the collected image is preprocessed, feature extraction, target recognition and positioning, hand-eye calibration and path planning, the six-axis robot arm 1 drives the interface valve quick change clamp 14 to grab the handle of the gas / liquid phase interface switch valve to start the valve, after the above operation, the loading signal is sent, the operator inputs the loading quantity on site, confirms that the loading information is correct, the system is automatically interlocked to start the pump, opens the valve and starts loading,

[0033] After loading is completed, the system is automatically interlocked to stop the pump, close the valve, and close the first pneumatic ball valve 31 and the second pneumatic ball valve 36 on the gas phase crane pipe 9 and the liquid phase crane pipe 8;

[0034] The six-axis robot arm 1 moves to the top of the tank mouth after replacing the interface valve quick change clamp 14, the visual camera 2 collects the image of the gas / liquid phase interface switch valve on the tank truck and feeds back to the central processor of the control system, the collected image is preprocessed, feature extraction, target recognition and positioning, hand-eye calibration and path planning, the six-axis robot arm 1 drives the interface valve quick change clamp 14 to grab the handle of the gas / liquid phase interface switch valve to start the valve;

[0035] The six-axis robot arm 1 moves to the top of the tank mouth after replacing the gas / liquid phase crane pipe quick change clamp 13, the visual camera 2 collects the image of the gas / liquid phase D type male joint on the tank truck and feeds back to the central processor of the control system, the collected image is preprocessed, feature extraction, target recognition and positioning, hand-eye calibration and path planning, the six-axis robot arm 1 drives the gas / liquid phase crane pipe quick change clamp 13 to automatically clamp and grab the positioning shaft 5 according to the instruction of the central processor, and the liquid phase automatic control joint 6 and the gas phase automatic control joint 7 at the end of the grabbing positioning shaft 5 are installed into the gas / liquid phase D type male joint on the tank truck;

[0036] After automatically replacing the vehicle-end male connector plug cap quick-change fixture 12, it moves to the top of the tank mouth, and uses the visual camera 2 to capture the image of the gas / liquid phase male connector plug cap on the tank truck and feed it back to the central processor of the control system. After pre-processing, feature extraction, target recognition and positioning, hand-eye calibration and path planning on the captured image, the six-axis robot arm 1 drives the male connector plug cap quick-change fixture 12 to automatically clamp the plug cap according to the instructions issued by the central processor. Then, through the visual camera 2, the gas / liquid phase male connector plug cap on the tank truck is captured and fed back to the central processor of the control system. After pre-processing, feature extraction, target recognition and positioning, hand-eye calibration and path planning on the captured image, the six-axis robot arm 1 drives the male connector plug cap to be installed on the male connector and locks the plug cap handle;

[0037] After the six-axis robotic arm 1 automatically installs the tank cover quick-change fixture 15, it moves to the top of the tank truck and uses the visual camera 2 to capture images of the tank cover and feeds them back to the central processor of the control system. After pre-processing, feature extraction, target recognition and positioning, hand-eye calibration and path planning of the captured images, the six-axis robotic arm 1 drives the tank cover quick-change fixture 15 to automatically close the tank cover and lock the tank cover buckle according to the instructions issued by the central processor;

[0038] After the operator checks that there are no safety hazards, he takes out the key from the key manager. The driver picks up the vehicle and leaves the loading area, and the loading and unloading is completed.

[0039] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements can be made without departing from the principles of the present invention. These improvements should also be regarded as the scope of protection of the present invention.

Claims

1. A top intelligent loading system, comprising a six-axis robotic arm (1), wherein the six-axis robotic arm (1) is controlled by an integrated control cabinet (35) to realize automatic identification and grasping, characterized in that: The lower part of the six-axis robot arm (1) is installed on the platform through a base (34), a visual camera (2) and a robot arm quick-change fixture (3) are installed at the end of the six-axis robot arm (1), a crane pipe column (10) is installed on the platform, a liquid phase crane pipe (8) and a gas phase crane pipe (9) are installed on the crane pipe column (10), a grabbing positioning shaft (5) is provided on the liquid phase crane pipe (8) and the gas phase crane pipe (9), a first pneumatic ball valve (31) and a liquid phase automatic control joint (6) are installed on the liquid phase crane pipe (8), and a second pneumatic ball valve (36) and a gas phase automatic control joint (7) are installed on the gas phase crane pipe (9); A quick-change fixture bracket (11) is mounted on the platform, and a car end male connector plugging cover quick-change fixture (12), a gas / liquid phase crane pipe quick-change fixture (13), an interface valve quick-change fixture (14) and a box cover quick-change fixture (15) are placed on the quick-change fixture bracket (11).

2. The top intelligent loading system according to claim 1, characterized in that: The interface valve quick-change fixture (14) includes a first quick-change connector (16), a first transition plate (17) is loaded on the upper part of the first quick-change connector (16), a first horizontal clamp (18) is installed on the upper part of the first transition plate (17), the first horizontal clamp (18) is used to clamp a bracket (19), the bracket (19) moves horizontally along the first horizontal clamp (18), and the bracket (19) is connected to a clamp (21) via a rotating shaft (20).

3. The top intelligent loading system according to claim 1, characterized in that: The box cover quick-change fixture (15) includes a second quick-change joint (22), a second transition plate (23) is loaded on the upper part of the second quick-change joint (22), and a second horizontal clamp (24) is installed on the upper part of the second transition plate (23). The second horizontal clamp (24) is used to clamp the hook (25) and the dial head (26), and the hook (25) and the dial head (26) move horizontally along the second horizontal clamp (24).

4. The top intelligent loading system according to claim 1, characterized in that: The gas / liquid phase crane pipe quick-change fixture (13) includes a third quick-change joint (27), a third transition plate (28) is loaded on the upper part of the third quick-change joint (27), a three-claw clamp (29) is installed on the upper part of the third transition plate (28), and the three-claw clamp (29) is used to clamp a claw (30), and the claw (30) moves along the three-claw clamp (29).

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