Full-automatic industrial six-axis robot urea adding device and automatic control system

Abstract

The invention discloses a full-automatic industrial six-axis robot urea adding device and an automatic control system, and relates to the technical field of full-automatic urea adding, the full-automatic industrial six-axis robot urea adding device comprises a base, a supporting table is installed in the middle of the top of the base, a sliding rail is arranged at the top of the supporting table, and a sliding block is installed at the top of the sliding rail; a laser reflector plate is installed on one side of the sliding block, and a laser emitter is installed at one end of the sliding rail. Through combination of the laser transmitter and the laser reflector plate and use of the laser rangefinder, high-precision positioning of the industrial six-axis robot and the clamp can be achieved, and through cooperative use of the insertion block, the first electric telescopic cylinder and the second electric telescopic cylinder, the stability and accuracy during urea bag material grabbing can be improved.

Description

Technical Field

[0001] This invention relates to the field of fully automatic urea addition technology, specifically to a fully automatic industrial six-axis robot urea addition device and automated control system. Background Technology

[0002] Urea, also known as carbamide, is an organic compound composed of carbon, nitrogen, oxygen, and hydrogen. It is a white crystalline solid and one of the simplest organic compounds. It is the main nitrogen-containing end product of protein metabolism in mammals and some fish, and it is also the nitrogen fertilizer with the highest nitrogen content. During transportation, urea needs to be transported manually or using tools such as forklifts.

[0003] The existing urea transport system has the following drawbacks:

[0004] 1. Patent document US07770383B2 discloses an apparatus and method for metering and transporting dry urea, particularly when implementing the SCR method in motor vehicles. However, the above document lacks a structure to improve the clamping accuracy during transportation, which easily leads to technical problems such as reduced clamping stability and accuracy.

[0005] 2. Patent document JP2015078041A discloses a material transport and lifting device, but the above document lacks a filtering and crushing device, which easily leads to aggregation during the transportation process, causing urea material to clump together and causing technical problems such as inconvenience in transportation.

[0006] 3. Patent document US20100155626A1 discloses a container for transporting and storing urea carbon hexafluoride. However, the above document contains a technical problem that the urea can easily cause blockage of the transport pipeline during the transportation of urea, especially when urea is stacked together.

[0007] 4. Patent document CN114313733A discloses an intelligent AGV warehousing system for finished urea. However, the above document only describes the urea warehousing process, which has high requirements for the site environment, ground flatness, space size, etc. Except for dedicated factory buildings, most sites cannot meet these conditions, which can easily lead to technical problems such as low smoothness of urea transportation process. Summary of the Invention

[0008] The purpose of this invention is to provide a fully automatic industrial six-axis robot urea addition device and an automated control system to solve the technical problems mentioned in the background art.

[0009] To achieve the above objectives, the present invention provides the following technical solution: a fully automatic industrial six-axis robot urea addition device, comprising a base, a support platform installed in the middle of the top of the base, a slide rail provided on the top of the support platform, a slider installed on the top of the slide rail, a laser reflector installed on one side of the slider, and a laser emitter installed at one end of the slide rail;

[0010] An industrial six-axis robot is mounted on the top of the slider. A clamp is mounted on the output end of the industrial six-axis robot. The clamp includes a top plate, a connecting frame, and a bottom plate. An installation chamber is provided between the top plate and the bottom plate. A laser rangefinder is mounted in the middle of the installation chamber. A transparent protective plate is fitted into the middle of the bottom of the bottom plate, and the output end of the laser rangefinder is mounted on the top of the transparent protective plate. A positioner is mounted on the inner wall of the installation chamber.

[0011] A set of connecting blocks is installed on both sides of the bottom of the base plate. A fixing rod is installed on one side of each connecting block. A hollow tube is movably connected to the outer wall of the fixing rod. Insert blocks are installed on both sides of the bottom of the hollow tube. Arc-shaped blocks are installed on both sides of the top of the hollow tube. A connecting rod is installed on one side of each arc-shaped block. A rotating shaft is installed at one end of the connecting rod. A rotating block is fitted at the other end of the rotating shaft. A cylinder is installed at one end of the rotating block, and the bottom of the cylinder is installed on the top of the base plate. A set of arc-shaped notches is opened on both sides of the base plate, and the outer wall of the arc-shaped notches is movably connected to one end of the arc-shaped block.

[0012] Preferably, a plurality of transmission channels are installed on the outer side of the top of the base. A baffle is installed at one end of each transmission channel. A reducer is installed at one end of the bottom of the outer wall of the transmission channel. A first servo motor is installed at the input end of the reducer. An active roller is installed at the output end of the reducer. Both ends of the active roller are mounted to one end of the bottom of the inner wall of the transmission channel through bearings. A transmission belt is installed on the outer wall of the active roller. A plurality of driven rollers are installed on the inner wall of the transmission belt. Both ends of the driven rollers are mounted to the bottom of the inner wall of the transmission channel through bearings.

[0013] Preferably, a bag-breaking machine is fitted into the tail end of one side of the top of the base. A set of triangular support rods is installed on the top of the inner wall of the bag-breaking machine. A moving groove is provided on one side of the set of triangular support rods. A moving block is movably connected to the inner wall of the moving groove. A cutting blade is installed on the top of the moving block. A threaded rod is threaded through the bottom of one side of the moving block. A second servo motor is installed at one end of the threaded rod, and the second servo motor is installed on the top of one side of the bag-breaking machine.

[0014] Preferably, a filter screen frame is installed in the middle of the inner wall of the bag breaking machine, a filter screen is installed on the inner wall of the filter screen frame, and a vibrator is installed in the middle of the bottom of the filter screen.

[0015] Preferably, the bottom of the bag breaking machine is provided with a spiral conveying groove, the inner wall of the spiral conveying groove is equipped with a spiral conveying rod, the outer wall of the spiral conveying rod is equipped with a spiral conveying blade, one end of the spiral conveying rod penetrates the inner wall of the spiral conveying groove and is equipped with a third servo motor, and the third servo motor is installed at the bottom of one side of the bag breaking machine.

[0016] Preferably, an exhaust delivery pipe is installed at the output end of the spiral conveying trough, and a delivery air pump is installed at one end of the exhaust delivery pipe.

[0017] Preferably, a collection box is installed at the front end of one side of the top of the base, and a mounting rod is installed in the middle of the front of the base, with a camera installed at the top of each mounting rod.

[0018] Preferably, an automated control system for a fully automatic industrial six-axis robot adding urea includes a monitoring unit, a position acquisition unit, a distance acquisition unit, a triggering unit, a cutting unit, a vibration unit, and an anti-blocking unit. The monitoring unit is used to monitor the operation status of the entire urea adding device in real time via a camera, including the motion status of the industrial six-axis robot, the gripping status of the fixture, and the number and movement position of urea bags in the transmission channel. The position acquisition unit is used to acquire the position of the fixture in real time via a locator. The distance acquisition unit is used to measure the distance between the fixture and the target object in real time via a laser rangefinder inside the fixture. The triggering unit is used to verify the position reached by the robot based on the information provided by the monitoring unit and the position acquisition unit, and trigger the corresponding operation command. The cutting unit is used to trigger the cutting unit to perform the bag breaking operation when the urea bag reaches the designated position above the bag breaking machine. The vibration unit is used to break up the clumped urea into small particles and let them fall into the spiral conveying trough below. The anti-blocking unit is used to smoothly convey the urea particles to the exhaust conveying pipe through the rotation of the spiral conveying rod and the cutting action of the spiral conveying blade, preventing blockage during the conveying process.

[0019] Preferably, the automation control steps of this fully automatic industrial six-axis robot urea addition automation control system are as follows:

[0020] S1. The operation status of the entire urea adding unit is monitored in real time by a camera, including the motion status of the industrial six-axis robot, the clamping status of the fixture, and the number and movement position of urea bags in the transmission channel.

[0021] S2. The output end of the industrial six-axis robot moves to directly above the urea bag. The positioner is used to determine the position of the clamp, and the laser rangefinder is used to obtain the distance between the clamp and the urea bag. At the same time, the cylinder is activated to pull the rotating block, which drives the rotating shaft, connecting rod and arc block to move, thereby ensuring that the insertion block is vertical.

[0022] S3. The industrial six-axis robot drives the gripper to descend, so that the insert block is inserted into the urea bag. The distance between the gripper and the urea bag is monitored in real time by a laser rangefinder. After reaching the specified distance, the cylinder is activated to push the rotating block and the arc block to move, so that the insert block rotates 90° and firmly grips the urea bag. The industrial six-axis robot moves and picks up the urea bag.

[0023] S4. The industrial six-axis robot grabs the urea to the designated position above the bag breaking machine, triggers the cutting unit, and the second servo motor drives the threaded rod to rotate, which drives the moving block to move along the moving groove, so that the cutting blade cuts the bottom of the urea bag, causing the urea to fall onto the filter screen inside the bag breaking machine.

[0024] S5. The vibrator starts, breaking up the clumps of urea into small particles, while the filter screen can block the broken urea bags.

[0025] S6. The third servo motor drives the spiral conveyor to rotate, and the spiral conveyor blades help the urea particles to be conveyed forward along the spiral conveyor groove to the exhaust conveyor pipe.

[0026] S7. The air pump starts and delivers urea granules through the exhaust delivery pipe.

[0027] Preferably, step S2 further includes the following steps:

[0028] The S21, slide rail, and slider settings can adjust the position of the industrial six-axis robot, thereby expanding the range of grippers that the industrial six-axis robot can use;

[0029] S22. By setting up a transmission channel, active roller, drive belt and driven roller, the flexibility of material movement in urea bags is ensured, eliminating the need for manual handling and reducing the movement of industrial six-axis robots, thus improving efficiency.

[0030] The S4 process also includes the following steps:

[0031] S41. After the urea bag is broken, the industrial six-axis robot tilts and shakes the clamp to pour out all the urea in the urea bag. Then, the industrial six-axis robot moves the clamp to the top of the collection box, starts the cylinder to pull the rotating block, and moves the rotating shaft, connecting rod and arc block to rotate the insertion block 90° to keep it vertical, so that the urea bag falls into the collection box.

[0032] The S6 process also includes the following steps:

[0033] S61. The cutting and conveying action of the spiral conveyor blade can prevent urea particles from clogging and ensure the stability of transportation.

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] 1. This invention, through the combination of a laser emitter and a laser reflector, and the use of a laser rangefinder, enables high-precision positioning of industrial six-axis robots and fixtures. The use of cylinders, hollow tubes, insert blocks, arc blocks, connecting rods, rotating shafts, and rotating blocks facilitates the adjustment of the angle of the insert blocks, thereby improving the stability and accuracy of gripping urea bags.

[0036] 2. This invention achieves automated bag breaking of urea bags by introducing a bag breaking machine, eliminating the need for manual bag breaking, which helps improve work efficiency and reduce labor costs. Through the support and guidance of the triangular support rod and the moving groove, the cutting blade can stably and accurately cut the urea bag, ensuring the smooth progress of the bag breaking process. The urea falls onto the filter screen inside the bag breaking machine, and the vibrator starts to break the clumps of urea into small particles. At the same time, the filter screen can block the broken urea bags.

[0037] 3. The present invention drives the spiral conveyor rod to rotate through a third servo motor. The spiral conveyor blades help the urea particles to be conveyed forward along the spiral conveyor groove to the exhaust conveyor pipe. The cutting and conveying action of the spiral conveyor blades can prevent the urea particles from clogging and ensure the stability of transportation. With the addition of a conveying air pump and an exhaust conveyor pipe, the urea particles are transported stably.

[0038] 4. This invention, a fully automated industrial six-axis robot with urea automated control system, achieves full automation of the entire process from urea bag identification, gripping, transportation to bag breaking, filtration, vibration crushing, and conveying through highly integrated automated control steps. The system utilizes cameras for real-time monitoring, precise positioning and ranging, intelligent clamping and release, efficient bag breaking and filtration, vibration crushing to prevent blockage, and spiral conveying technology, significantly improving work efficiency, reducing labor costs, ensuring a clean and safe working environment, and guaranteeing the smooth and reliable urea transportation process. Attached Figure Description

[0039] Figure 1 This is a three-dimensional schematic diagram of the overall structure of the present invention;

[0040] Figure 2 For the present invention Figure 1 Schematic diagram of the structure at point A in the middle;

[0041] Figure 3 This is a top view of the overall structure of the present invention;

[0042] Figure 4 For the present invention Figure 3 Schematic diagram of the structure at point B;

[0043] Figure 5 This is a schematic diagram of the clamp structure of the present invention;

[0044] Figure 6 This is a schematic diagram of the bag-breaking machine structure of the present invention;

[0045] Figure 7 This is a schematic diagram of the automated control system of the present invention;

[0046] Figure 8 This is a schematic diagram of the workflow of the automated control system of the present invention.

[0047] In the diagram: 1. Base; 2. Support platform; 3. Slide rail; 4. Slider; 5. Laser reflector; 6. Laser emitter; 7. Industrial six-axis robot; 8. Fixture; 9. Top plate; 10. Connecting frame; 11. Base plate; 12. Installation chamber; 13. Laser rangefinder; 14. Transparent protective plate; 15. Connecting block; 16. Fixing rod; 17. Hollow tube; 18. Insert block; 19. Arc-shaped block; 20. Connecting rod; 21. Rotating shaft; 22. Rotating block; 23. Cylinder; 24. Arc-shaped notch; 25. Transmission channel; 26. Baffle; 28. Reducer; 2 9. First servo motor; 30. Drive roller; 31. Transmission belt; 32. Driven roller; 33. Bag breaking machine; 34. Triangular support rod; 35. Moving trough; 36. Moving block; 37. Cutting blade; 38. Threaded rod; 39. Second servo motor; 40. Filter frame; 41. Filter screen; 42. Vibrator; 43. Spiral conveying trough; 44. Spiral conveying rod; 45. Third servo motor; 46. Exhaust conveying pipe; 47. Conveying air pump; 48. Collection box; 49. Mounting rod; 50. Camera; 51. Positioner; 52. Spiral conveying blade. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0050] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0051] Example 1: Please refer to Figure 1 , Figure 2 and Figure 5 An embodiment of the present invention provides a fully automatic industrial six-axis robot urea addition device, comprising a base 1, characterized in that: a support platform 2 is installed in the middle of the top of the base 1, a slide rail 3 is provided on the top of the support platform 2, a slider 4 is installed on the top of the slide rail 3, a laser reflector 5 is installed on one side of the slider 4, and a laser emitter 6 is installed at one end of the slide rail 3.

[0052] An industrial six-axis robot 7 is mounted on the top of the slider 4. A clamp 8 is mounted on the output end of the industrial six-axis robot 7. The clamp 8 includes a top plate 9, a connecting frame 10, and a bottom plate 11. An installation chamber 12 is provided between the top plate 9 and the bottom plate 11. A laser rangefinder 13 is installed in the middle of the installation chamber 12. A transparent protective plate 14 is fitted into the middle of the bottom of the bottom plate 11, and the output end of the laser rangefinder 13 is mounted on the top of the transparent protective plate 14. A positioner 51 is installed on the inner wall of the installation chamber 12.

[0053] A set of connecting blocks 15 are installed on both sides of the bottom of the base plate 11. A fixing rod 16 is installed on one side of each connecting block 15. A hollow tube 17 is movably connected to the outer wall of the fixing rod 16. Insert blocks 18 are installed on both sides of the bottom of the hollow tube 17. Arc blocks 19 are installed on both sides of the top of the hollow tube 17. A connecting rod 20 is installed on one side of each arc block 19. A rotating shaft 21 is installed at one end of the connecting rod 20. A rotating block 22 is fitted at the other end of the rotating shaft 21. A cylinder 23 is installed at one end of the rotating block 22. The bottom of the cylinder 23 is installed on the top of the base plate 11. A set of arc notches 24 are opened on both sides of the base plate 11. The outer wall of the arc notches 24 is movably connected to one end of the arc block 19.

[0054] Furthermore, by combining the laser emitter 6 with the laser reflector 5 and using the laser rangefinder 13, high-precision positioning of the industrial six-axis robot 7 and the fixture 8 can be achieved. The combination of cylinder 23, hollow tube 17, insert block 18, arc block 19, connecting rod 20, rotating shaft 21 and rotating block 22 facilitates the adjustment of the angle of insert block 18, thereby improving the stability and accuracy of gripping urea bag materials.

[0055] Example 2: Please refer to Figure 1 , Figure 3 and Figure 4 In one embodiment of the present invention: a plurality of transmission channels 25 are installed on the outer side of the top of the base 1. A baffle 26 is installed at one end of each transmission channel 25. A reducer 28 is installed at one end of the bottom of the outer wall of the transmission channel 25. A first servo motor 29 is installed at the input end of the reducer 28. An active roller 30 is installed at the output end of the reducer 28. Both ends of the active roller 30 are mounted to one end of the bottom of the inner wall of the transmission channel 25 through bearings. A transmission belt 31 is installed on the outer wall of the active roller 30. A plurality of driven rollers 32 are installed on the inner wall of the transmission belt 31. Both ends of the driven rollers 32 are mounted to the bottom of the inner wall of the transmission channel 25 through bearings.

[0056] Furthermore, by using the transmission channel 25, the driving roller 30, the transmission belt 31 and the driven roller 32, it is beneficial to complete the transportation of urea materials, ensure the flexibility of urea material transportation and improve the working efficiency of the industrial six-axis robot 7.

[0057] Example 3: Please refer to Figure 3 , Figure 4 and Figure 6 In one embodiment of the present invention: a bag-breaking machine 33 is fitted into the tail end of one side of the top of the base 1. A set of triangular support rods 34 is installed on the top of the inner wall of the bag-breaking machine 33. A moving groove 35 is provided on one side of the set of triangular support rods 34. A moving block 36 is movably connected to the inner wall of the moving groove 35. A cutting blade 37 is installed on the top of the moving block 36. A threaded rod 38 is threaded through the bottom of one side of the moving block 36. A second servo motor 39 is installed at one end of the threaded rod 38, and the second servo motor 39 is installed on the top of one side of the bag-breaking machine 33.

[0058] A filter screen frame 40 is installed in the middle of the inner wall of the bag breaking machine 33, a filter screen 41 is installed on the inner wall of the filter screen frame 40, and a vibrator 42 is installed in the middle of the bottom of the filter screen 41.

[0059] Furthermore, the introduction of the bag-breaking machine 33 realizes the automated bag-breaking process of urea bags, eliminating the need for manual bag breaking, which helps to improve work efficiency and reduce labor costs. Through the support and guidance of the triangular support rod 34 and the moving groove 35, the cutting blade 37 can stably and accurately cut the urea bag, ensuring the smooth progress of the bag-breaking process. The urea falls onto the filter screen 41 inside the bag-breaking machine 33, and the vibrator 42 is activated to break the clumps of urea into small particles. At the same time, the filter screen 41 can block the broken urea bags.

[0060] Example 4: Please refer to Figure 3 and Figure 6In one embodiment of the present invention: a spiral conveying groove 43 is provided at the bottom of the bag breaking machine 33, a spiral conveying rod 44 is installed on the inner wall of the spiral conveying groove 43, a spiral conveying blade 52 is installed on the outer wall of the spiral conveying rod 44, and a third servo motor 45 is installed at one end of the spiral conveying rod 44 through the inner wall of the spiral conveying groove 43, and the third servo motor 45 is installed at the bottom of one side of the bag breaking machine 33.

[0061] An exhaust conveying pipe 46 is installed at the output end of the spiral conveying trough 43, and a conveying air pump 47 is installed at one end of the exhaust conveying pipe 46.

[0062] A collection box 48 is installed on the front end of one side of the top of the base 1, and a mounting rod 49 is installed in the middle of the front of the base 1. A camera 50 is installed on the top of each mounting rod 49.

[0063] Furthermore, the spiral conveyor rod 44 is driven to rotate by the third servo motor 45, and the spiral conveyor blade 52 helps the urea particles to be conveyed forward along the spiral conveyor groove 43 to the exhaust conveyor pipe 46. The cutting and conveying action of the spiral conveyor blade 52 can prevent the urea particles from clogging and ensure the stability of the transport. With the use of the conveying air pump 47 and the exhaust conveyor pipe 46, the urea particles are transported stably.

[0064] Example 5: Please refer to Figure 7 This invention provides an embodiment of an automated control system for a fully automatic industrial six-axis robot adding urea, comprising a monitoring unit, a position acquisition unit, a distance acquisition unit, a triggering unit, a cutting unit, a vibration unit, and an anti-blocking unit. The monitoring unit is used to monitor the operating status of the entire urea adding device in real time via a camera 50, including the motion status of the industrial six-axis robot 7, the gripping status of the fixture 8, and the number and movement position of urea bags in the transmission channel 25. The position acquisition unit is used to acquire the position of the fixture 8 in real time via a locator 51. The distance acquisition unit is used to acquire the position of the fixture 8 via a laser rangefinder inside the fixture 8. 13. Real-time measurement of the distance between the clamp 8 and the target object. The triggering unit is used to verify the position reached by the robot based on the information provided by the monitoring unit and the position acquisition unit, and trigger the corresponding operation command. The cutting unit is used to trigger the cutting unit to perform the bag breaking operation when the urea bag reaches the designated position above the bag breaking machine 33. The vibration unit is used to break the clumped urea into small particles and let them fall into the lower spiral conveying trough 43. The anti-blocking unit is used to smoothly convey the urea particles to the exhaust conveying pipe 46 through the rotation of the spiral conveying rod 44 and the cutting action of the spiral conveying blade 52, so as to prevent blockage during the conveying process.

[0065] Furthermore, this fully automated industrial six-axis robot with urea automated control system achieves full automation of the entire process from urea bag identification, gripping, transportation to bag breaking, filtration, vibration crushing, and conveying through highly integrated automated control steps. The system utilizes camera 50 for real-time monitoring, precise positioning and ranging, intelligent clamping and release, efficient bag breaking and filtration, vibration crushing to prevent blockage, and spiral conveying technology, which significantly improves work efficiency, reduces labor costs, and ensures a clean and safe working environment, thus ensuring the smooth and reliable urea transportation process.

[0066] Example 6: Please refer to Figure 8 The present invention provides an embodiment of the fully automatic industrial six-axis robot urea addition automated control system, the automated control steps of which are as follows:

[0067] S1. The camera 50 monitors the operation of the entire urea adding device in real time, including the motion status of the industrial six-axis robot 7, the clamping status of the fixture 8, and the number and movement position of urea bags in the transmission channel 25.

[0068] S2. The output end of the industrial six-axis robot 7 moves to directly above the urea bag. The positioner 51 is used to determine the position of the clamp 8. The laser rangefinder 13 is used to obtain the distance between the clamp 8 and the urea bag. At the same time, the cylinder 23 is started to pull the rotating block 22, which drives the rotating shaft 21, the connecting rod 20 and the arc block 19 to move, thereby ensuring that the insertion block 18 is vertical.

[0069] S3. The industrial six-axis robot 7 drives the gripper 8 to descend, so that the insert block 18 is inserted into the urea bag. The distance between the gripper 8 and the urea bag is monitored in real time by the laser rangefinder 13. After reaching the specified distance, the cylinder 23 is activated to push the rotating block 22 and the arc block 19 to move, so that the insert block 18 rotates 90° and firmly grips the urea bag. The industrial six-axis robot 7 moves and picks up the urea bag.

[0070] S4. The industrial six-axis robot 7 grabs the urea to the designated position above the bag breaking machine 33, triggers the cutting unit, and the second servo motor 39 drives the threaded rod 38 to rotate, which drives the moving block 36 to move along the moving groove 35, so that the cutting blade 37 cuts the bottom of the urea bag, causing the urea to fall onto the filter screen 41 inside the bag breaking machine 33.

[0071] S5, the vibrator 42 is started, which breaks the clumps of urea into small particles, while the filter screen 41 can block the broken urea bags.

[0072] S6. The third servo motor 45 drives the spiral conveyor rod 44 to rotate, and the spiral conveyor blade 52 helps the urea particles to be conveyed forward along the spiral conveyor groove 43 to the exhaust conveyor pipe 46.

[0073] S7. The air pump 47 is started, and urea granules are transported through the exhaust delivery pipe 46.

[0074] S2 also includes the following steps:

[0075] The arrangement of S21, slide rail 3 and slider 4 can adjust the position of the industrial six-axis robot 7, thereby expanding the range of the industrial six-axis robot 7 that can use the fixture 8;

[0076] S22. By setting up the transmission channel 25, the driving roller 30, the transmission belt 31 and the driven roller 32, the flexibility of the material movement in the urea bag is ensured, eliminating the need for manual handling and reducing the movement of the industrial six-axis robot 7, thereby improving efficiency.

[0077] S4 also includes the following steps:

[0078] S41. After the urea bag is broken, the industrial six-axis robot 7 tilts and shakes the clamp 8 to pour out all the urea in the urea bag. Then, the industrial six-axis robot 7 moves the clamp 8 above the collection box 48 and starts the cylinder 23 to pull the rotating block 22, which drives the rotating shaft 21, connecting rod 20 and arc block 19 to move, so that the insertion block 18 rotates 90° to keep it in a vertical state, and then the urea bag falls into the collection box 48.

[0079] S6 also includes the following steps:

[0080] The cutting and conveying action of S61 and spiral conveyor blade 52 can prevent urea particles from clogging and ensure the stability of transportation.

[0081] Working principle: Through the combination of laser emitter 6 and laser reflector 5, and the use of laser rangefinder 13, high-precision positioning of industrial six-axis robot 7 and fixture 8 can be achieved. The use of cylinder 23, hollow tube 17, insert block 18, arc block 19, connecting rod 20, rotating shaft 21, and rotating block 22 facilitates adjustment of the angle of insert block 18, thereby improving the stability and accuracy of gripping urea bag materials. The use of transmission channel 25, driving roller 30, transmission belt 31, and driven roller 32 further enhances the gripping process. The setup facilitates the transportation of urea materials, ensuring flexibility in urea transport and improving the working efficiency of the industrial six-axis robot 7. The introduction of the bag-breaking machine 33 automates the urea bag-breaking process, eliminating the need for manual bag breaking, thus improving work efficiency and reducing labor costs. Through the support and guidance of the triangular support rod 34 and the moving groove 35, the cutting blade 37 can stably and accurately cut the urea bag, ensuring a smooth bag-breaking process. The urea falls onto the filter screen 41 inside the bag-breaking machine 33. The vibrator 42 is activated, breaking up the clumps of urea into small particles. Simultaneously, the filter screen 41 prevents the broken urea bags from escaping. The third servo motor 45 drives the spiral conveyor rod 44 to rotate. The spiral conveyor blades 52 help transport the urea particles forward along the spiral conveyor groove 43 to the exhaust conveyor pipe 46. The cutting and conveying action of the spiral conveyor blades 52 prevents urea particles from clogging and ensures stable transport. The conveying air pump 47 and exhaust conveyor pipe 46 then stably transport the urea particles. This fully automatic industrial six-axis robot 7, combined with the urea automation control system, achieves full automation from urea bag identification, gripping, transport to bag breaking, filtering, vibration crushing, and conveying through highly integrated automated control steps. The system utilizes a camera 50 for real-time monitoring, precise positioning and ranging, intelligent clamping and release, efficient bag breaking and filtering, vibration crushing to prevent clogging, and spiral conveying technology, significantly improving work efficiency, reducing labor costs, ensuring a clean and safe working environment, and guaranteeing the smooth and reliable transport of urea.

[0082] It will be apparent to those skilled in the art that the present 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 its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A fully automated industrial six-axis robot urea dispensing device, comprising a base (1), characterized in that: A support platform (2) is installed in the middle of the top of the base (1). A slide rail (3) is provided on the top of the support platform (2). A slider (4) is installed on the top of the slide rail (3). A laser reflector (5) is installed on one side of the slider (4). A laser emitter (6) is installed at one end of the slide rail (3). An industrial six-axis robot (7) is mounted on the top of the slider (4). A clamp (8) is mounted on the output end of the industrial six-axis robot (7). The clamp (8) includes a top plate (9), a connecting frame (10), and a bottom plate (11). An installation chamber (12) is provided between the top plate (9) and the bottom plate (11). A laser rangefinder (13) is installed in the middle of the installation chamber (12). A transparent protective plate (14) is fitted into the middle of the bottom of the bottom plate (11). The output end of the laser rangefinder (13) is mounted on the top of the transparent protective plate (14). A locator (51) is installed on the inner wall of the installation chamber (12). A set of connecting blocks (15) are installed on both sides of the bottom of the base plate (11). A fixing rod (16) is installed on one side of each connecting block (15). A hollow tube (17) is movably connected to the outer wall of the fixing rod (16). Insert blocks (18) are installed on both sides of the bottom of the hollow tube (17). Arc blocks (19) are installed on both sides of the top of the hollow tube (17). A connecting rod (20) is installed on one side of each arc block (19). A rotating shaft (21) is installed at one end of the connecting rod (20). A rotating block (22) is fitted at the other end of the rotating shaft (21). A cylinder (23) is installed at one end of the rotating block (22). The bottom of the cylinder (23) is installed on the top of the base plate (11). A set of arc notches (24) are opened on both sides of the base plate (11). The outer wall of the arc notches (24) is movably connected to one end of the arc block (19).

2. The fully automated industrial six-axis robot urea dispensing device according to claim 1, characterized in that: Several sets of transmission channels (25) are installed on the outer side of the top of the base (1). A baffle (26) is installed at one end of each transmission channel (25). A reducer (28) is installed at one end of the bottom of the outer wall of the transmission channel (25). A first servo motor (29) is installed at the input end of the reducer (28). An active roller (30) is installed at the output end of the reducer (28). Both ends of the active roller (30) are installed at one end of the bottom of the inner wall of the transmission channel (25) through bearings. A transmission belt (31) is installed on the outer wall of the active roller (30). Several driven rollers (32) are installed on the inner wall of the transmission belt (31). Both ends of the driven rollers (32) are installed at the bottom of the inner wall of the transmission channel (25) through bearings.

3. The fully automated industrial six-axis robot urea dispensing device according to claim 1, characterized in that: A bag-breaking machine (33) is fitted into the tail end of the top side of the base (1). A set of triangular support rods (34) is installed on the top of the inner wall of the bag-breaking machine (33). A moving groove (35) is provided on one side of the set of triangular support rods (34). A moving block (36) is movably connected to the inner wall of the moving groove (35). A cutting blade (37) is installed on the top of the moving block (36). A threaded rod (38) is threaded through the bottom of one side of the moving block (36). A second servo motor (39) is installed at one end of the threaded rod (38), and the second servo motor (39) is installed on the top of one side of the bag-breaking machine (33).

4. The fully automated industrial six-axis robot urea dispensing device according to claim 3, characterized in that: A filter frame (40) is installed in the middle of the inner wall of the bag breaking machine (33), a filter screen (41) is installed in the inner wall of the filter frame (40), and a vibrator (42) is installed in the middle of the bottom of the filter screen (41).

5. The fully automated industrial six-axis robot urea dispensing device according to claim 3, characterized in that: The bottom of the bag breaking machine (33) is provided with a spiral conveying groove (43), the inner wall of the spiral conveying groove (43) is equipped with a spiral conveying rod (44), the outer wall of the spiral conveying rod (44) is equipped with a spiral conveying blade (52), one end of the spiral conveying rod (44) penetrates the inner wall of the spiral conveying groove (43) and is equipped with a third servo motor (45), and the third servo motor (45) is installed at the bottom of one side of the bag breaking machine (33).

6. The fully automated industrial six-axis robot urea dispensing device according to claim 5, characterized in that: An exhaust delivery pipe (46) is installed at the output end of the spiral conveying trough (43), and a delivery air pump (47) is installed at one end of the exhaust delivery pipe (46).

7. The fully automated industrial six-axis robot urea dispensing device according to claim 1, characterized in that: A collection box (48) is installed on the front end of one side of the top of the base (1), and an installation rod (49) is installed in the middle of the front of the base (1). A camera (50) is installed on the top of the installation rod (49).

8. An automated control system for a fully automatic industrial six-axis robot adding urea, applicable to the fully automatic industrial six-axis robot adding urea device according to claims 1-7, characterized in that: The system includes a monitoring unit, a position acquisition unit, a distance acquisition unit, a triggering unit, a cutting unit, a vibration unit, and an anti-blocking unit. The monitoring unit is used to monitor the operation status of the entire urea addition device in real time through a camera (50), including the motion status of the industrial six-axis robot (7), the clamping status of the fixture (8), and the number and movement position of urea bags in the transmission channel (25). The position acquisition unit is used to acquire the position of the fixture (8) in real time through a locator (51). The distance acquisition unit is used to measure the distance between the fixture (8) and the target object in real time through a laser rangefinder (13) inside the fixture (8). The distance between the bodies, the triggering unit is used to verify the position reached by the robot according to the information provided by the monitoring unit and the position acquisition unit, and trigger the corresponding operation command. The cutting unit is used to trigger the cutting unit to perform the bag breaking operation when the urea bag reaches the designated position above the bag breaking machine (33). The vibration unit is used to break the clump of urea into small particles and fall into the spiral conveying trough (43) below. The anti-blocking unit is used to smoothly convey the urea particles to the exhaust conveying pipe (46) through the rotation of the spiral conveying rod (44) and the cutting action of the spiral conveying blade (52) to prevent blockage during the conveying process.

9. The fully automatic industrial six-axis robot urea addition automation control system according to claim 8, characterized in that: The automation control steps of this fully automated six-axis industrial robot urea addition automation control system are as follows: S1. The operation status of the entire urea addition device is monitored in real time by a camera (50), including the motion status of the industrial six-axis robot (7), the clamping status of the fixture (8), and the number and movement position of urea bags in the transmission channel (25). S2. The output end of the industrial six-axis robot (7) moves to the top of the urea bag. The positioner (51) is used to determine the position of the clamp (8). The laser rangefinder (13) is used to obtain the distance between the clamp (8) and the urea bag. At the same time, the cylinder (23) is started to pull the rotating block (22), which drives the rotating shaft (21), connecting rod (20) and arc block (19) to move, thereby ensuring that the insertion block (18) is vertical. S3. The industrial six-axis robot (7) drives the clamp (8) to descend, so that the insert block (18) is inserted into the urea bag. The distance between the clamp (8) and the urea bag is monitored in real time by the laser rangefinder (13). After reaching the specified distance, the cylinder (23) is started to push the rotating block (22) and the arc block (19) to move, so that the insert block (18) rotates 90° and firmly grips the urea bag. The industrial six-axis robot (7) moves and picks up the urea bag. S4. The industrial six-axis robot (7) grabs the urea to the designated position above the bag breaking machine (33), triggers the cutting unit, and the second servo motor (39) drives the threaded rod (38) to rotate, which drives the moving block (36) to move along the moving groove (35), so that the cutting blade (37) cuts the bottom of the urea bag, and the urea falls onto the filter screen (41) inside the bag breaking machine (33); S5. The vibrator (42) is started to break the clump of urea into small particles, while the filter screen (41) can block the broken urea bag. S6. The third servo motor (45) drives the spiral conveyor rod (44) to rotate, and the spiral conveyor blade (52) helps the urea particles to be conveyed forward along the spiral conveyor groove (43) to the exhaust conveyor pipe (46). S7. The air pump (47) is started, and urea granules are transported through the exhaust delivery pipe (46).

10. The fully automatic industrial six-axis robot urea addition automation control system according to claim 9, characterized in that: The S2 process also includes the following steps: The setting of S21, slide rail (3) and slider (4) can adjust the position of the industrial six-axis robot (7), thereby expanding the range of the industrial six-axis robot (7) using the fixture (8); S22. By setting up the transmission channel (25), the active roller (30), the transmission belt (31) and the driven roller (32), the flexibility of the urea bag material movement is ensured, and manual handling is not required. At the same time, the movement of the industrial six-axis robot (7) is reduced, and efficiency is improved. The S4 process also includes the following steps: S41. After the urea bag is broken, the industrial six-axis robot (7) tilts and shakes the clamp (8) to pour out all the urea in the urea bag. Then, the industrial six-axis robot (7) moves the clamp (8) to the top of the collection box (48), starts the cylinder (23) to pull the rotating block (22), and drives the rotating shaft (21), connecting rod (20) and arc block (19) to move, so that the insert block (18) rotates 90° to keep it vertical, and then the urea bag falls into the collection box (48). The S6 process also includes the following steps: S61, the cutting and conveying function of the spiral conveyor blade (52) can prevent urea particles from clogging and ensure the stability of transportation.

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