Automation device for automatic loading, carrying and stacking in chemistry and chemical industry

Abstract

The invention discloses an automatic device for automatic loading, carrying and stacking in the chemistry and chemical industry. The automatic device comprises an upper system, a power-assisted pneumatic mechanical arm, a conveying and storing device, a stacking mechanism and an intelligent monitoring system. The upper system coordinates and controls the operation of each device; the hoisting type power-assisted pneumatic mechanical arm is provided with a pneumatic cylinder and an electromagnetic clamping jaw so as to grab and carry materials. The conveying and storage device comprises a conveying belt and a storage box to complete material conveying and collection; the stacking mechanism is composed of a platform and a mechanical arm. The intelligent monitoring system integrates a 2D camera to carry out location taking and positioning, and a 3D camera uses a structured light technology to realize spatial modeling. Through the integrated automatic control and intelligent vision technology, full-process automation of material grabbing, carrying, storing and stacking is achieved, the labor intensity is remarkably relieved, the high-altitude operation risk is eliminated, the processing precision and efficiency of materials of different specifications are improved by means of the self-adaptive learning capacity, and the working efficiency is improved. And the automation level and the safety of chemical production links are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of chemical and chemical industry automation equipment, in particular to an automatic device for automatic loading, carrying and stacking in the chemical and chemical industry. BACKGROUND

[0002] In the modern production process of the chemical and chemical industry, the post-treatment link of materials, such as loading, carrying and stacking of waste liquid barrels, still generally relies on a large number of manual operations. This traditional mode not only makes the labor intensity high, but also seriously restricts the improvement of overall production efficiency. Especially when handling heavy materials, multiple workers need to work together, which not only leads to continuous growth of labor costs, but also hides significant safety hazards in high-altitude or repetitive carrying operations, posing a threat to safety production.

[0003] To address the above challenges, some automated carrying equipment has appeared in the market, but its automation degree is often limited. For example, some automatic loading vehicles still need manual pre-stacking of goods on the platform during the loading process, and cannot realize full-process automation from grabbing to stacking. In addition, in special scenarios such as chemical liquid packaging and transportation, the applicability of existing auxiliary devices is narrow, and the actual effect of efficiency improvement and labor intensity reduction is not ideal, which is difficult to meet the diversified and complex production needs.

[0004] The existing automatic systems, such as some stacking control systems using six-axis mechanical arms, have made breakthroughs in basic automation, but still have obvious shortcomings in intelligence. They usually lack self-adaptive ability to material specifications and cannot intelligently adjust the stacking strategy according to the shape, size and other parameters of the material. At the same time, the stability of the system and the compatibility of different materials need to be strengthened, which is difficult to guarantee long-term reliable operation in the special environment of the chemical industry. Therefore, it is necessary to develop a comprehensive automatic device integrating intelligence, high adaptability and high reliability. SUMMARY

[0005] In view of the above technical problems in the related art, the present application provides an automatic device for automatic loading, carrying and stacking in the chemical and chemical industry, which can overcome the above shortcomings of the prior art.

[0006] To achieve the above technical purposes, the technical solution of the present application is as follows: An automatic device for automatic loading, carrying and stacking in the chemical and chemical industry; The automatic loading, carrying and stacking device for the chemical industry comprises an upper system, a power-assisted pneumatic mechanical arm, a conveying and receiving device, a stacking mechanism and an intelligent monitoring system; the upper system is used for coordinating the operation of each single device and receiving feedback information; the power-assisted pneumatic mechanical arm adopts a hoisting structure and is equipped with a pneumatic cylinder and an electromagnetic gripper, and is used for grabbing and carrying materials; the conveying and receiving device comprises a conveying belt and a receiving box for receiving materials; the stacking mechanism comprises a stacking platform and a stacking mechanical arm; the intelligent monitoring system comprises a 2D camera for positioning and detecting the material taking position and a 3D camera using structured light technology for space modeling.

[0007] Further, the power-assisted pneumatic mechanical arm comprises a fixed base, a support rod and a plurality of sections of cross frames connected by a rotating device, the end of the cross frame is grabbed and hoisted by a sling and an electromagnetic gripper.

[0008] Further, the support rod and the cross frame of the power-assisted pneumatic mechanical arm are made of aluminum alloy material, and the electromagnetic gripper is made of permanent magnet material.

[0009] Further, the conveying belt surface of the conveying and receiving device is provided with a rubber pad.

[0010] Further, the receiving box is internally provided with multiple layers of partitions and is equipped with an electromagnetic door body.

[0011] Further, the stacking mechanical arm is of a six-axis structure and is equipped with an electromagnetic sensor.

[0012] Further, the stacking mechanical arm is also provided with an adaptive learning module, which can automatically adjust the stacking parameters according to materials of different specifications and shapes.

[0013] Further, the surface of the stacking platform is provided with an anti-skid rubber pad.

[0014] Further, the intelligent monitoring system further comprises an optical character recognition module for identifying the identification code on the materials.

[0015] Further, the upper system is managed by an industrial controller and supports remote control and automatic operation mode.

[0016] The beneficial effects of the present application: through the integration of the hoisting type assisted pneumatic mechanical arm, the conveying and storage device, the stacking mechanism and the intelligent monitoring system coordinated and controlled by the upper system, the whole process of grabbing, carrying, storing and stacking of the waste liquid barrel is realized automation, which effectively reduces the labor intensity of personnel and eliminates the safety hazards of high-altitude operation; further, through the visual positioning and space modeling technology of the intelligent monitoring system, combined with the adaptive learning ability of the stacking mechanism, the accuracy and reliability of stacking are improved, the intelligent processing demand of different specifications of waste liquid barrels is adapted, and finally the production efficiency and safety level of related links in chemical industry are significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0018] Fig. 1 is an unfolded state structural schematic diagram of an assisted pneumatic mechanical arm of an automatic loading, carrying and stacking automation device in chemical industry according to the embodiment of the present application; Fig. 2 is a folded state structural schematic diagram of an assisted pneumatic mechanical arm of an automatic loading, carrying and stacking automation device in chemical industry according to the embodiment of the present application; Fig. 3 is a structural schematic diagram of a conveying and storage device and a stacking mechanism of an automatic loading, carrying and stacking automation device in chemical industry according to the embodiment of the present application; In the figure: 1, assisted pneumatic mechanical arm; 2, electromagnetic sensor; 3, support rod; 4, pneumatic cylinder; 5, electromagnetic clamping jaw; 6, fixed base; 7, waste liquid barrel; 8, rotating device; 9, cross frame; 10, sling; 11, conveying and storage device; 12, conveying belt; 13, stacking mechanism; 14, stacking platform; 15, stacking mechanical arm. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0020] It should be understood that in the description of the embodiments of the present invention, the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing the embodiments of the present invention and for simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of the embodiments of the present invention, "several" means two or more, unless otherwise explicitly specified.

[0021] like Figs. 1-3 As shown in the figure, an automated loading, handling, and palletizing device for the chemical industry according to an embodiment of the present invention includes a host system, a assisted pneumatic robotic arm 1, a conveying and storage device 11, a palletizing mechanism 13, and an intelligent monitoring system. The host system is used to coordinate and control the operation of each individual device and receive feedback information. The assisted pneumatic robotic arm 1 adopts a hoisting structure and is equipped with a pneumatic cylinder 4 and an electromagnetic gripper 5 for gripping and handling materials. The conveying and storage device 11 includes a conveyor belt 12 and a storage box for storing materials. The palletizing mechanism 13 includes a palletizing platform 14 and a palletizing robotic arm 15. The intelligent monitoring system includes a 2D camera for positioning and detecting the material picking position and a 3D camera for spatial modeling using structured light technology.

[0022] According to an embodiment of the present invention, an automated device for automatic loading, handling, and palletizing in the chemical industry is provided. In a specific embodiment, the assisted pneumatic robotic arm 1 includes a fixed base 6, a support rod 3, and several crossbeams 9 rotatably connected by a rotating device 8. The end of the crossbeams 9 grips and lifts waste liquid barrels 7 via a sling 10 and an electromagnetic gripper 5.

[0023] According to an embodiment of the present invention, an automated device for automatic loading, handling, and palletizing in the chemical industry is provided. In a specific embodiment, the support rod 3 and crossbeam 9 of the power-assisted pneumatic robotic arm 1 are made of aluminum alloy, and the electromagnetic gripper 5 is made of permanent magnet material.

[0024] According to the automatic loading, carrying and stacking device for chemical and chemical industry in the embodiment of the application, in a specific embodiment, the surface of the conveying belt 12 of the conveying and accommodating device 11 is provided with a rubber pad.

[0025] According to the automatic loading, carrying and stacking device for chemical and chemical industry in the embodiment of the application, in a specific embodiment, the inside of the accommodating box is provided with multiple layers of partitions and is provided with an electromagnetic door body.

[0026] According to the automatic loading, carrying and stacking device for chemical and chemical industry in the embodiment of the application, in a specific embodiment, the stacking mechanical arm 15 is a six-axis structure and is provided with an electromagnetic sensor 2.

[0027] According to the automatic loading, carrying and stacking device for chemical and chemical industry in the embodiment of the application, in a specific embodiment, the stacking mechanical arm 15 is further provided with a self-adaptive learning module, which can automatically adjust the stacking parameters according to materials of different specifications and shapes.

[0028] According to the automatic loading, carrying and stacking device for chemical and chemical industry in the embodiment of the application, in a specific embodiment, the surface of the stacking platform 14 is provided with an anti-skid rubber pad.

[0029] According to the automatic loading, carrying and stacking device for chemical and chemical industry in the embodiment of the application, in a specific embodiment, the intelligent monitoring system further comprises an optical character recognition module for identifying the identification code on the material.

[0030] According to the automatic loading, carrying and stacking device for chemical and chemical industry in the embodiment of the application, in a specific embodiment, the upper system is managed through an industrial controller and supports remote control and automatic operation mode.

[0031] In order to facilitate the understanding of the above technical solutions of the application, the above technical solutions of the application are described in detail below through specific use modes.

[0032] In specific use, the automatic loading, carrying and stacking device for chemical and chemical industry according to the application comprises an upper system, a power-assisted pneumatic mechanical arm, a conveying and accommodating device, a stacking mechanism and an intelligent monitoring system.

[0033] The upper system is used for coordinating the operation of each single device, issuing operation commands, and receiving feedback information; the assisted pneumatic mechanical arm adopts a hoisting structure, is equipped with a pneumatic cylinder and an electromagnetic clamp, and is used for grabbing and carrying materials; the conveying and receiving device comprises a conveying belt and a receiving box, the conveying belt is used for conveying materials to the receiving box, and the receiving box can be used for receiving materials in a fixed position and quantity according to the project scale.

[0034] The stacking mechanism comprises a stacking platform and a stacking mechanical arm, the stacking platform is used for temporarily storing materials, the stacking mechanical arm adopts a six-axis structure, is equipped with an electromagnetic sensor, and the position of the stacking platform is monitored in real time through the electromagnetic sensor to avoid deviation in the stacking process. The stacking mechanical arm is also provided with a self-adaptive learning module, which can automatically adjust the stacking parameters according to materials of different specifications and shapes.

[0035] The intelligent monitoring system comprises a 2D camera and a 3D camera, the 2D camera is used for positioning and detecting the material taking position, the 3D camera adopts a structured light technology to model the space and monitor the stacking state in real time. The intelligent monitoring system also comprises an optical character recognition module, which is used for identifying the identification code on the material to realize intelligent sorting and recording.

[0036] The upper system realizes intelligent management through an industrial controller, supports remote control and automatic operation mode, and can be flexibly switched according to the project requirements. The whole device adopts a modular design, which is convenient for maintenance and upgrading.

[0037] The following three more specific embodiments further illustrate the technical solution: Embodiment one: The application provides an automatic device for automatic loading, carrying and stacking in the chemical industry, which comprises an upper system, an assisted pneumatic mechanical arm, a conveying and receiving device, a stacking mechanism and an intelligent monitoring system.

[0038] The upper system realizes intelligent management through an industrial controller, is connected with each single device through an RS485 bus, supports remote control and automatic operation mode. The upper system comprises a control panel, the control panel is provided with a touch display screen and a plurality of operation buttons, and is used for inputting operation instructions and monitoring the running state of each device in real time.

[0039] The assisted pneumatic mechanical arm adopts a hoisting structure, comprises a fixed base, a support rod and a plurality of cross frames connected through rotating devices, and the tail end of the cross frame is used for grabbing and hoisting a waste liquid barrel or other materials through a sling and an electromagnetic clamp. The pneumatic cylinder is used for providing power. The electromagnetic clamp is made of permanent magnet material and has good grabbing performance. The support rod and the cross frame are made of aluminum alloy material and have high strength and rigidity.

[0040] The conveying and storage device includes a conveyor belt and a storage box. The conveyor belt is made of nylon material and has a rubber pad on the surface to enhance friction. The storage box is made of steel and has multiple layers of partitions inside, which can be used for fixed-point and fixed-quantity storage according to the project scale. The import and export of the storage box is equipped with an electromagnetic door body for automatic opening and closing.

[0041] The stacking mechanism includes a stacking platform and a stacking mechanical arm. The stacking platform is made of reinforced concrete structure and has anti-slip rubber pads on the surface. The stacking mechanical arm adopts a six-axis structure and is equipped with an electromagnetic sensor and an adaptive learning module. The electromagnetic sensor is used to monitor the position of the stacking platform in real time to avoid deviation during stacking. The adaptive learning module can automatically adjust the stacking parameters by learning different specifications and shapes of materials.

[0042] The intelligent monitoring system includes a 2D camera and a 3D camera. The 2D camera is used for positioning detection of the material taking position and is composed of an industrial lens and a CMOS sensor with a resolution of 640x480. The 3D camera uses structure light technology for space modeling and is of the Azure Kinect DK model, which can create a high-precision point cloud model. The intelligent monitoring system also includes an optical character recognition module for identifying the identification code on the material to realize intelligent sorting and recording.

[0043] Each single device adopts modular design for easy maintenance and upgrade. The control system of the whole device adopts standardized industrial protocol to realize seamless integration with other devices.

[0044] Example two: The working process of the automatic device provided by the application is as follows: Firstly, the upper system receives operation instructions through the control panel and judges whether to enter the automatic operation mode. If yes, it sends a start signal to the power-assisted pneumatic mechanical arm, the conveying and storage device, the stacking mechanism and the intelligent monitoring system; if not, it enters the manual operation mode.

[0045] In the automatic operation mode, the power-assisted pneumatic mechanical arm is driven by the pneumatic cylinder, and the electromagnetic gripper moves above the material (such as a waste liquid barrel). The 2D camera of the intelligent monitoring system captures the image of the material, and calculates the best grabbing position and posture through image processing algorithm. The electromagnetic gripper is closed to grab the material, and the mechanical arm moves with the material to the conveyor belt of the conveying and storage device.

[0046] The conveyor belt of the conveying and storage device is driven by the motor to run, and the material is conveyed to the designated position of the storage box. The electromagnetic door body of the storage box automatically opens, and the material falls into the inside of the storage box. The partitions of the storage box will automatically position the position of the material according to the preset specifications to realize fixed-point and fixed-quantity storage. When a layer is full, the partitions automatically lift to start a new layer of storage.

[0047] At the same time, the 3D camera of the intelligent monitoring system scans the stacking area in real time, constructs a point cloud model through structured light technology, and judges the idle state of the stacking platform. When there is idle space, the upper system sends instructions to the stacking mechanism, and the stacking mechanical arm automatically moves to the stacking position to complete the stacking operation.

[0048] During the whole process, the upper system monitors the running state of each device in real time through the industrial controller, ensures the coordination of each link, and when an exception occurs, the system will automatically alarm and record the exception log.

[0049] Example three: The main parameters of the automatic device provided by the application are as follows: Boost pneumatic mechanical arm: Mechanical arm size: 2000mmx1000mmx500mm; Pneumatic cylinder model: FESTO DSNU-32-100-PPV-A; Electromagnetic gripper model: NEO-Magnet 250; Strut material: aluminum alloy; Controller model: Siemens S7-200 SMART.

[0050] Conveying and storage device: Conveyor belt model: RGU-1200 / 60 / 3; Storage box size: 2000mmx1000mmx1000mm; Storage box layer spacing: 50mm; Electromagnetic door body model: SMC-50.

[0051] Stacking mechanism: Stacking platform size: 2000mmx1000mmx500mm; Stacking mechanical arm size: 1500mmx800mmx600mm; Electromagnetic sensor model: TKS-20; Adaptive learning module: machine vision algorithm based on deep learning.

[0052] Intelligent monitoring system: 2D camera model: Hikvision DS2CD6986F-H (resolution 640x480); 3D camera model: Azure Kinect DK; Optical character recognition module: intelligent recognition algorithm based on OCR.

[0053] Upper system: Industrial controller model: Siemens S7-1200 PLC; Control panel size: 400mm x 300mm x 50mm; RS485 bus rate: 115.2kbps.

[0054] The above parameters are only one preferred embodiment of the present application, and each individual device can be functionally replaced or parameter adjusted without departing from the principles and spirit of the present application.

[0055] To sum up, by means of the above technical scheme of the present application, the hoisting type power-assisted pneumatic mechanical arm, the conveying and storage device, the stacking mechanism and the intelligent monitoring system coordinated and controlled by the upper system are integrated, so that the whole process of grabbing, carrying, storing and stacking of the waste liquid barrels is automated, the labor intensity of personnel is effectively reduced, and the safety hazards of high-altitude operation are eliminated. Furthermore, through the visual positioning and space modeling technology of the intelligent monitoring system, combined with the self-adaptive learning ability of the stacking mechanism, the stacking accuracy and reliability are improved, the intelligent processing demand of different specifications of waste liquid barrels is adapted, and finally the production efficiency and safety level of related links in the chemical and chemical industry are significantly improved.

[0056] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An automated device for automatic loading, handling, and palletizing in the chemical industry, characterized in that, The system includes a host system, a power-assisted pneumatic robotic arm (1), a conveying and storage device (11), a palletizing mechanism (13), and an intelligent monitoring system. The host system is used to coordinate and control the operation of each individual device and receive feedback information. The power-assisted pneumatic robotic arm (1) adopts a hoisting structure and is equipped with a pneumatic cylinder (4) and an electromagnetic gripper (5) for grabbing and transporting materials. The conveying and storage device (11) includes a conveyor belt (12) and a storage box for storing materials. The palletizing mechanism (13) includes a palletizing platform (14) and a palletizing robotic arm (15). The intelligent monitoring system includes a 2D camera for positioning and detecting the material picking position and a 3D camera for spatial modeling using structured light technology.

2. The automated loading, handling, and palletizing device for the chemical industry according to claim 1, characterized in that, The assisted pneumatic robotic arm (1) includes a fixed base (6), a support rod (3), and several crossbeams (9) rotatably connected by a rotating device (8). The end of the crossbeams (9) grips and lifts the waste liquid barrel (7) through a sling (10) and an electromagnetic gripper (5).

3. The automated loading, handling, and palletizing device for the chemical industry according to claim 2, characterized in that, The support rod (3) and crossbar (9) of the power-assisted pneumatic robotic arm (1) are made of aluminum alloy, and the electromagnetic gripper (5) is made of permanent magnet.

4. The automated loading, handling, and palletizing device for the chemical industry according to claim 1, characterized in that, The conveyor belt (12) of the conveying and receiving device (11) is provided with a rubber pad.

5. An automated loading, handling, and palletizing device for the chemical industry according to claim 1, characterized in that, The storage box has multiple internal compartments and is equipped with an electromagnetic door.

6. An automated loading, handling, and palletizing device for the chemical industry according to claim 1, characterized in that, The palletizing robot arm (15) has a six-axis structure and is equipped with an electromagnetic sensor (2).

7. An automated loading, handling, and palletizing device for the chemical industry according to claim 6, characterized in that, The palletizing robot arm (15) is also equipped with an adaptive learning module, which can automatically adjust the palletizing parameters according to materials of different specifications and shapes.

8. An automated loading, handling, and palletizing device for the chemical industry according to claim 1, characterized in that, The surface of the palletizing platform (14) is provided with anti-slip rubber pads.

9. An automated device for automatic loading, handling, and palletizing in the chemical industry according to claim 1, characterized in that, The intelligent monitoring system also includes an optical character recognition module for identifying identification codes on materials.

10. An automated device for automatic loading, handling, and palletizing in the chemical industry according to claim 1, characterized in that, The host system is managed by an industrial controller and supports remote control and automated operation modes.

Images