Automatic unloading device for barreled material

Abstract

The present application relates to the technical field of barrel unloading, and discloses an automatic barrel unloading device, a truss robot, and a parking space, a buffer storage location and a conveying position are arranged below the truss robot, a pallet conveying line is arranged on the conveying position, a grabbing mechanism for grabbing barrels is arranged on the end effector of the truss robot, a visual judgment camera is further arranged on the truss robot, and the visual judgment camera is electrically connected with a first controller of the truss robot. The automatic barrel unloading device is used to automatically collect the position of a truck and the image of barrel stacking through the visual judgment camera, to identify key position information, and to control the truss robot and the grabbing mechanism thereof to complete automatic grabbing, carrying and placing actions, thereby completely replacing the traditional manual forklift or manual carrying mode, eliminating the safety hazards of manual operation in the truck compartment, saving time and effort, and significantly improving the unloading efficiency of barrels.

Description

Technical Field

[0001] This invention relates to the field of unloading technology for drummed materials, and more specifically, to an automatic unloading device for drummed materials. Background Technology

[0002] In industries such as petrochemicals, chemicals, and grain and oil, drummed materials (such as metal oil drums and plastic raw material drums) are often transported in bulk by truck. After the truck stops at the designated unloading area, the drummed materials stacked in the truck bed need to be unloaded and transported to the workshop processing area.

[0003] The existing unloading method usually involves manually unloading the buckets (containing raw materials to be processed) onto wooden pallets, and then manually using a forklift to transport the wooden pallets and buckets to the workshop processing area. This unloading method is inefficient, time-consuming, and labor-intensive. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects in the prior art and provide an automatic unloading device for barrelled materials that uses a robotic arm to unload barrels onto a pallet conveyor line and then transports the barrels via the pallet conveyor line.

[0005] To achieve the above objectives, the technical solution of the present invention is to provide an automatic unloading device for barrelled materials, comprising: a gantry robot, wherein a parking space, a buffer storage space and a conveying space are provided below the gantry robot, a pallet conveying line is provided on the conveying space, a gripping mechanism for gripping barrels is installed on the end effector of the gantry robot, and a vision judgment camera is also installed on the gantry robot, the vision judgment camera being electrically connected to the first controller of the gantry robot; The first controller is configured to: receive image information captured by the vision judgment camera, and control the drive mechanism of the gantry robot to drive the gripping mechanism to move according to the identified stopping position of the truck and the stacking position of the material bucket, so as to grab the material bucket on the truck and place it on the pallet conveyor line or transfer it to the buffer storage location.

[0006] Preferably, the drive mechanism includes a lateral drive structure, a longitudinal drive structure, and a vertical drive structure. The lateral drive structure is mounted on the mounting frame of the gantry robot. The longitudinal drive structure is connected to the output end of the lateral drive structure, and the vertical drive structure is connected to the output end of the longitudinal drive structure. The gripping mechanism is connected to the output end of the vertical structure. The driving directions of the lateral, longitudinal, and vertical drive structures are mutually perpendicular. This design allows the drive mechanism to drive the gripping mechanism to precisely grasp the material bucket.

[0007] Preferably, the visual judgment camera is fixedly mounted on the base of the longitudinal drive structure. This design helps to prevent the visual judgment camera from being damaged by collisions.

[0008] Preferably, the gripping mechanism includes a four-jaw centering gripper connected to the drive mechanism, wherein an elastic element is detachably installed on the inner side of the jaws of the four-jaw centering gripper. This design helps to improve the stability of the gripping.

[0009] Preferably, the elastic element is fixedly installed to the inner side of the claw by bolts, with the head of the bolt embedded in the elastic element. This design facilitates the installation and removal of the elastic element.

[0010] Preferably, the elastic element is provided with a clamping arc surface. This design helps to further improve the stability of clamping.

[0011] Preferably, the top of the elastic element is provided with a blocking surface, and the clamping arc surface is perpendicular to the blocking surface. This design can prevent the material bucket from falling off during unloading, thus improving the safety of unloading the material bucket.

[0012] Preferably, the gripping mechanism further includes an angle adjustment assembly hinged to the base of the four-jaw centering gripper via a ball joint. The angle adjustment assembly includes a connecting seat and a telescopic drive component. The connecting seat is fixedly connected to the bottom end of the vertical drive structure. At least two telescopic drive components are provided, with their two ends hinged to the base and the connecting seat respectively. The elastic element has two first pressure sensors distributed vertically within it. This design ensures the accuracy and stability of the gripping process.

[0013] Preferably, the drive mechanism and the gripping mechanism are combined to form a transfer module. The transfer module comprises two sets: a first transfer module and a second transfer module, sequentially arranged along the conveying direction of the pallet conveyor line. The first transfer module is configured to unload the material drums from the truck onto the pallet conveyor line, and the second transfer module is configured to unload the material drums from the truck onto the pallet conveyor line or the buffer storage location. This design improves unloading efficiency and prevents interference between the two transfer modules.

[0014] Preferably, the pallets of the pallet conveyor line have a built-in second pressure sensor. This design facilitates automatic adjustment and control of the transfer status of the first and second transfer modules.

[0015] The beneficial effects of this invention are as follows: By using the automatic unloading device for drummed materials described in this invention, the visual judgment camera automatically collects images of the truck position and drum stacking, identifies key position information, and controls the gantry robot and its gripping mechanism to complete automatic gripping, handling, and placement actions. This completely replaces the traditional manual forklift or manual handling mode, eliminates the safety hazards of manual entry into the truck compartment (such as falls from heights, cargo tipping and injury), and saves time and labor. At the same time, the machine operation is highly continuous and the rhythm is stable, which greatly shortens the unloading time of a single truck and significantly improves the unloading efficiency of drums. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the automatic unloading device for drummed materials; Figure 2 This is a top-view diagram of a gantry robot; Figure 3 This is a three-dimensional structural diagram of the drive mechanism; Figure 4 This is a three-dimensional structural diagram of the gripping mechanism; Figure 5 This is a three-dimensional structural diagram of the clamping assembly and the cross drive plate; Figure 6 This is a three-dimensional structural diagram of the claw. Figure 7 yes Figure 6 Front sectional view; Figure 8 This is a schematic diagram of the three-dimensional structure of the material barrel; Figure 9 This is a schematic diagram of the structure in which the material bucket is held by the claw. Figure 10 yes Figure 9 Enlarged view of the structure at point A in the middle; Figure 11 This is a partial three-dimensional structural diagram of a pallet conveyor line.

[0017] In the diagram: 11. Parking space; 12. Buffer storage location; 13. Transport location; 2. Pallet conveyor line; 21. Pallet; 22. Blocking cylinder; 23. Lifting platform; 3. Gripping mechanism; 31. Four-jaw centering gripper; 311. Claw; 3111. Bolt; 3112. First pressure sensor; 312. Elastic element; 3121. Clamping arc surface; 3122. Blocking surface; 313. Base; 314. Servo electric cylinder; 315. Cross drive plate; 316. Lifting rod; 3161. Slide groove; 317. Drive rod; 318. Connecting rod; 319. Fixing plate; 3191. Protrusion; 32. Ball joint; 321. Ball head; 322. Rod; 33. Angle adjustment assembly; 331. Connecting seat; 332. Telescopic drive component; 4. Visually assess the camera; 5. Drive mechanism; 51. Lateral drive structure; 52. Longitudinal drive structure; 521. Base; 53. Vertical drive structure; 6. Mounting bracket; 71. First transfer module; 72. Second transfer module; 8. Trucks; 9. Material bucket; 91. Flange. Detailed Implementation

[0018] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed to enable those skilled in the art to better understand and implement the subject matter described herein. Changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0019] To better understand this invention, the following is combined with... Figures 1-11 The automatic unloading device for drummed materials of the present invention will be described in detail.

[0020] Example 1: like Figures 1-3 As shown, the automatic unloading device for barrelled materials includes: a gantry robot, with a parking space 11, a buffer storage space 12 and a conveying space 13 below the gantry robot, a pallet conveying line 2 on the conveying space 13, a gripping mechanism 3 for gripping barrels 9 installed on the end effector of the gantry robot, and a vision judgment camera 4 installed on the gantry robot, which is electrically connected to the first controller of the gantry robot. The first controller is configured to receive image information collected by the visual judgment camera 4, and control the drive mechanism 5 of the gantry robot to drive the gripping mechanism 3 to move according to the identified stopping position of the truck 8 and the stacking position of the material bucket 9, so as to grab the material bucket 9 on the truck 8 and place it on the pallet conveyor line 2 or transfer it to the buffer storage location 12.

[0021] It should be noted that the pallet conveyor line 2 is connected to the workshop processing area to transport the material buckets 9 to the workshop processing area. The visual judgment camera 4 is configured to: capture the position image of the truck 8 in the parking space 11, the stacking image of the material buckets 9 on the truck 8, identify the stopping position deviation of the truck 8, the stacking position and three-dimensional coordinates of the material buckets 9, and transmit the identification data to the first controller. The first controller can be any hardware device with data processing and logic control capabilities. Regardless of the specific hardware used, as long as it can execute the logic of receiving image signals, processing data and outputting drive signals, it falls within the protection scope of this invention. Specifically, the first controller includes an image processing module and a motion control module. The image processing module is used to parse the image data of the visual judgment camera 4, and the motion control module is used to generate drive signals. The first controller can be any one of a programmable logic controller (PLC), an industrial computer or an embedded microcontroller.

[0022] In this embodiment, parking space 11 and buffer storage space 12 are located on the same side of conveying space 13 to optimize space utilization.

[0023] By using the automatic unloading device for barrelled materials of the present invention, the visual judgment camera 4 automatically collects images of the position of the truck 8 and the stacking of the barrels 9, identifies key position information, and controls the gantry robot and its gripping mechanism 3 to complete automatic gripping, handling and placement actions, completely replacing the traditional manual forklift or manual handling mode, eliminating the safety hazards of manual entry into the truck 8 compartment (such as falling from height, cargo tipping and injury, etc.), and saving time and labor. At the same time, the machine operation is highly continuous and the rhythm is stable, which greatly shortens the unloading time of a single truck and significantly improves the unloading efficiency of the barrels 9. By setting up a buffer storage location 12, when the workshop processing area is busy and the material buckets 9 at the end of the pallet conveyor line 2 cannot be removed in time, and the number of material buckets 9 remaining on the pallet conveyor line 2 reaches a preset value, the gantry robot can temporarily store the material buckets 9 on the truck 8 in the buffer storage location 12 without stopping the unloading operation, thus avoiding the phenomenon of the entire truck waiting. After the material buckets 9 at the end of the pallet conveyor line 2 are removed and the number of material buckets 9 remaining on the pallet conveyor line 2 is lower than the preset value, the material buckets 9 in the buffer storage location 12 are put back on the pallet conveyor line 2, ensuring the continuous and stable operation of the entire unloading device and maximizing the equipment utilization rate.

[0024] Example 2: As an optimization of Example 1, such as Figures 1-3 As shown, the drive mechanism 5 includes a lateral drive structure 51, a longitudinal drive structure 52, and a vertical drive structure 53. The lateral drive structure 51 is mounted on the mounting frame 6 of the gantry robot. The longitudinal drive structure 52 is connected to the output end of the lateral drive structure 51. The vertical drive structure 53 is connected to the output end of the longitudinal drive structure 52. The gripping mechanism 3 is connected to the output end of the vertical structure. The driving directions of the lateral drive structure 51, the longitudinal drive structure 52, and the vertical drive structure 53 are perpendicular to each other.

[0025] It should be noted that the drive mechanism 5 of the gantry robot is used to drive the gripping mechanism 3 to move in three-dimensional space. Specifically, the horizontal drive structure 51 is configured to drive the gripping mechanism 3 to move horizontally and parallel to the conveying direction of the pallet conveyor line 2 (i.e., the X-axis direction), the vertical drive structure 52 is configured to drive the gripping mechanism 3 to move horizontally and perpendicular to the conveying direction of the pallet conveyor line 2 (i.e., the Y-axis direction), and the vertical drive structure 53 is configured to drive the gripping mechanism 3 to move up and down vertically (i.e., the Z-axis direction). The three work together to ensure that the gripping mechanism 3 can unload the bucket 9 to any position in the unloading area. The power sources (such as servo motors, hydraulic valves, etc.) in the horizontal drive structure 51, the vertical drive structure 52, and the vertical drive structure 53 are all electrically connected to the first controller. The first controller sends control commands to each drive structure based on the position information identified by the camera 4, and precisely controls the movement distance and speed of each axis, thereby achieving precise grasping.

[0026] It should be emphasized that the specific configurations of the aforementioned lateral drive structure 51, longitudinal drive structure 52, and vertical drive structure 53 can be varied, as long as they can achieve the corresponding linear drive function. For example, the lateral drive structure 51 includes a lateral servo motor, a lateral reducer, and a lateral transmission assembly. The lateral transmission assembly can be any one of a ball screw pair, a gear rack pair, a synchronous belt pulley set, or a sprocket and chain set. The lateral servo motor drives the lateral transmission assembly to rotate through the reducer, thereby driving the lateral slide to move along the X-axis direction on the guide rail of the mounting bracket 6, and thus driving the longitudinal drive structure 52, the vertical drive structure 53, and the gripping mechanism 3 to move along the lateral drive. The longitudinal drive structure 52 includes a longitudinal servo motor, a longitudinal reducer, and a longitudinal transmission assembly. Its structure is similar to that of the transverse drive structure 51. The longitudinal transmission assembly can also be in the form of a ball screw, gear rack, or synchronous belt, etc., to drive the longitudinal slide to move along the Y-axis, thereby driving the vertical drive structure 53 and the gripping mechanism 3 to move synchronously with the longitudinal slide. The vertical drive structure 53 includes a vertical servo motor (or a brake motor), a vertical reducer, and a vertical lifting assembly. The vertical lifting assembly can be set as a vertical screw and nut pair. The vertical motor drives the lifting assembly to rise and fall along the Z-axis, thereby driving the gripping mechanism 3 to rise and fall synchronously with the lifting assembly. In addition, any of the above-mentioned drive structures can also be directly driven by a linear motor, or directly provide linear thrust by fluid drive components such as hydraulic cylinders or air cylinders. Those skilled in the art will understand that, regardless of which specific hardware combination is used (such as "motor + lead screw"), as long as it can achieve linear displacement along a specified direction, it falls within the protection scope of the "lateral / longitudinal / vertical drive structure 53" of this invention.

[0027] Example 3: As an optimization of Example 2, such as Figure 3 As shown, the visual judgment camera 4 is fixedly mounted on the base 521 of the longitudinal drive structure 52.

[0028] It should be noted that the length of the base 521 is along the Y-axis. During the drive control process of the drive mechanism 5, firstly, the horizontal drive structure 51 and the vertical drive structure 52 drive the gripping mechanism 3 to move horizontally until the gripping mechanism 3 moves directly above the target material bucket 9. Subsequently, the vertical drive structure 53 drives the gripping mechanism 3 to move downward, so that the gripping mechanism 3 can grip the material bucket 9. By fixing the vision judgment camera 4 on the base 521 of the vertical drive structure 52, on the one hand, the vision judgment camera 4 can move with the vertical drive mechanism 5, thereby obtaining a larger visual range and reducing the visual interference. The requirement for the number of vision judgment cameras 4 helps reduce the cost of the automatic unloading device for drum materials. At any position during the unloading operation, the vision judgment cameras 4 can maintain the optimal shooting distance and angle with the target drum 9. On the other hand, the installation position of the vision judgment cameras 4 is always higher than the stacking surface of the drums 9, which effectively avoids the risk of collision and damage to the drums 9 when operating in a narrow carriage. In addition, the vision judgment cameras 4 only need to move along a single axis (Y-axis), which greatly simplifies the arrangement of cable drag chains, avoids the risk of cable entanglement and fatigue breakage caused by multi-axis linkage, and significantly improves the durability and maintenance-free period of the equipment.

[0029] Example 4: As an optimization of Example 3, such as Figure 1 , Figure 4 , Figure 5 and Figure 6 As shown, the gripping mechanism 3 includes a four-claw centering gripper 31 connected to the drive mechanism 5, and an elastic element 312 is detachably installed on the inner side of the claw portion 311 of the four-claw centering gripper 31.

[0030] It should be noted that the four-jaw centering gripper 31 includes a base 313, a servo electric cylinder 314, a cross drive plate 315, and four sets of clamping components. The servo electric cylinder 314 is fixedly installed in the base 313, and the cross drive plate 315 is fixedly connected to the output end of the servo electric cylinder 314. The four sets of clamping components are arranged in a circumferential array around the center line of the base 313. The four ends of the cross drive plate 315 are respectively connected to the four sets of clamping components. The servo electric cylinder 314 drives the cross drive plate 315 to move up and down along the center line of the base 313, thereby driving the four sets of clamping components to clamp or release the material bucket 9. Furthermore, each clamping assembly includes a lifting rod 316, a drive rod 317, and a parallelogram linkage unit. The parallelogram linkage unit includes two sets of parallel connecting rods 318, a fixing plate 319 that intersects with the top of the connecting rods 318, and a claw 311 that is hinged to the bottom of the connecting rods 318. The fixing plate 319 has an L-shaped structure and is fixedly connected to the bottom of the base 313. One end of the fixing plate 319 is hinged to the connecting rods 318, and the other end of the fixing plate 319 is provided with a protrusion 3191. The lifting rod 316 has a sliding groove 3161 that slidably connects with the protrusion 3191. The top end of the lifting rod 316 is hinged to the end of the cross drive plate 315, and the bottom end of the lifting rod 316 is hinged to one end of the drive rod 317. The slide groove 3161 is set between the upper and lower hinge points of the lifting rod 316. The other end of the drive rod 317 is hinged to the middle of the inner connecting rod 318. Under the sliding fit limit of the protrusion 3191 and the slide groove 3161, the cross drive plate 315 drives the lifting rod 316 to move up and down, thereby driving the drive rod 317 to move, and then driving the connecting rod 318 to rotate, so that the claw 311 moves, and the four claws 311 cooperate with each other to clamp or release the material barrel 9.

[0031] By providing an elastic element 312 on the inner side of the claw 311, the four-jaw centering gripper 31 will not damage the material barrel 9 (such as deforming it) when clamping it, and it is beneficial to improve the stability of clamping. In addition, after long-term use, when the friction between the elastic element 312 and the material barrel 9 is reduced due to the wear of the elastic element 312, only the elastic element 312 needs to be replaced, which helps to reduce the maintenance cost of the four-jaw centering gripper 31.

[0032] It should be emphasized that the inner side of the claw 311 refers to the side of the claw 311 that is close to the center line of the base 313, and the inner connecting rod 318 refers to the connecting rod 318 that is close to the center line of the base 313. The lifting rod 316 is located between the connecting rod 318 and the center line of the base 313. The center line of the base 313 is also the center line of the four-claw centering gripper 31. The hinge structure of the four-claw centering gripper 31 is achieved through the hinge rod.

[0033] The elastic element 312 can be made of polyurethane or rubber. When the material tank 9 is an oil tank, polyurethane is preferred. The elastic element 312 made of polyurethane has excellent oil resistance and is more suitable for oily environments.

[0034] In this embodiment, each set of lifting rods 316 includes two long rods, and each set of connecting rods 318 includes two short rods. The two long rods of the same lifting rod 316 are arranged on both sides of the corresponding fixing plate 319, and the two short rods of the same connecting rod 318 are arranged on both sides of the corresponding fixing plate 319 to ensure the stability of the clamping action of the four-jaw centering gripper 31.

[0035] Example 5: As an optimization of Example 4, such as Figure 6 and Figure 7 As shown, the elastic element 312 is fixedly installed on the inner side of the claw 311 by bolt 3111, and the head of bolt 3111 is embedded in the elastic element 312.

[0036] It should be noted that the elastic element 312 can be removed and replaced by unscrewing the bolt 3111, and the elastic element 312 can be fastened to the inside of the claw 311 by tightening the bolt 3111. The elastic element 312 is easy to install and remove. By designing the head of the bolt 3111 to be embedded in the elastic element 312, it can be avoided that the head of the bolt 3111 will scratch the material barrel 9, thereby causing damage to the material barrel 9.

[0037] Example 6: As an optimization of Example 5, such as Figure 6 As shown, the elastic element 312 is provided with a clamping arc surface 3121.

[0038] It should be noted that the clamping arc surface 3121 is adapted to the outer wall of the material barrel 9. When the four-jaw centering gripper 31 clamps the material barrel 9, the clamping arc surface 3121 is in close contact with the outer wall of the material barrel 9, which helps to further improve the stability of clamping. For material barrels 9 with different outer diameters, the corresponding elastic element 312 needs to be replaced.

[0039] Example 7: As an optimization of Example 6, such as Figure 6 , Figure 8 , Figure 9 and Figure 10 As shown, the top of the elastic member 312 is provided with a blocking surface 3122, and the clamping arc surface 3121 is perpendicular to the blocking surface 3122.

[0040] It should be noted that the top of the material bucket 9 has a flange 91. When the four-jaw centering gripper 31 clamps the material bucket 9, the clamping arc surface 3121 of the elastic element 312 fits against the outer wall of the material bucket 9. The blocking surface 3122 of the elastic element 312 has a gap with the bottom surface of the flange 91. Even if the material bucket 9 slides down during the lifting process, when the blocking surface 3122 contacts the bottom surface of the flange 91, the blocking surface 3122 can prevent the material bucket 9 from continuing to slide by supporting the flange 91 upward, thereby preventing the material bucket 9 from falling and improving the safety of unloading the material bucket 9.

[0041] Example 8: As an optimization of Example 7, such as Figure 1 , Figure 4 and Figure 7As shown, the gripping mechanism 3 also includes an angle adjustment component 33 that is hinged to the base 313 of the four-claw centering gripper 31 via a ball joint 32. The angle adjustment component 33 includes a connecting seat 331 and a telescopic drive component 332. The connecting seat 331 is fixedly connected to the bottom end of the vertical drive structure 53. At least two telescopic drive components 332 are provided. The two ends of the telescopic drive component 332 are respectively hinged to the base 313 and the connecting seat 331. The elastic element 312 has two first pressure sensors 3112 distributed vertically inside.

[0042] It should be noted that the bottom end of the vertical drive structure 53 is the end effector of the gantry robot. The telescopic drive component 332 can be set as a servo electric push rod. The first pressure sensor 3112 is electrically connected to the second controller of the angle adjustment component 33, and the first pressure sensor 3112 is electrically connected to the first controller. The electrical connection is a cable connection. During the clamping process, when the pressure difference between the two first pressure sensors 3112 in the same elastic element 312 exceeds the preset value, such as when the pressure values ​​detected by the upper and lower first pressure sensors 3112 exceed the preset value, it indicates that the upper and lower pressure distribution of the claw 311 is uneven. The second controller then controls the corresponding telescopic drive 332 to perform telescopic adjustment, thereby prioritizing the angle adjustment of the four-claw centering gripper 31. When the difference in the total pressure of each claw 311 (the total pressure is the sum of the values ​​of the two first pressure sensors 3112 of each claw 311) exceeds the preset value, such as when the difference between the maximum and minimum values ​​of the total pressure of the four claws 311 exceeds the preset value, it indicates that the center line of the base 313 is too eccentric to the axis of the material barrel 9. The first controller fine-tunes the horizontal position of the four-claw centering gripper 31, thereby completing the position adjustment of the four-claw centering gripper 31 to ensure that the center line of the four-claw centering gripper 31 coincides with the axis of the material barrel 9. This can ensure the stability of clamping and avoid the clamping stress concentration caused by the tilt of the material barrel 9 during the clamping process, which could damage the material barrel 9.

[0043] It should be emphasized that when there are two telescopic drive members 332, the connection points between the two telescopic drive members 332 and the base 313, and the connection point between the ball joint 32 and the base 313 are not collinear. When there are three or more telescopic drive members 332, the multiple telescopic drive members 332 are arranged in a circumferential array around the center line of the base 313. Preferably, there are four telescopic drive members 332. In this case, the telescopic adjustment of the two telescopic drive members 332 opposite to each other about the center line of the base 313 is opposite. That is, when one telescopic drive member 332 extends by a certain length, the other opposite telescopic drive member 332 shortens by the same length, making the adjustment of the angle adjustment component 33 more stable and reliable.

[0044] In this embodiment, the ball head 321 of the ball joint 32 is rotatably embedded in the connecting seat 331, the rod portion 322 of the ball joint 32 is fixedly connected to the base 313, the fixed end of the telescopic drive member 332 is connected to the bottom surface of the connecting seat 331 through a hinge seat, and the telescopic end of the telescopic drive member 332 is connected to the top surface of the base 313 through another hinge seat.

[0045] Example 9: As an optimization of Example 8, such as Figure 1 and Figure 2 As shown, the drive mechanism 5 and the gripping mechanism 3 are combined to form a transfer module. The transfer module is provided in two sets, namely a first transfer module 71 and a second transfer module 72 arranged sequentially along the conveying direction of the pallet conveyor line 2. The first transfer module 71 is configured to unload the material buckets 9 on the truck 8 onto the pallet conveyor line 2, and the second transfer module 72 is configured to unload the material buckets 9 on the truck 8 onto the pallet conveyor line 2 or the buffer storage location 12.

[0046] It should be noted that by setting up two transfer modules, unloading efficiency can be improved and the truck 8 can be prevented from being stationary for a long time. When the number of buckets 9 on the pallet conveyor line 2 is lower than the preset value, the first transfer module 71 and the second transfer module 72 work together to unload the buckets 9 on the truck 8 onto the pallet conveyor line 2. When the number of buckets 9 on the pallet conveyor line 2 reaches the preset value, the first transfer module 71 stops unloading and the second transfer module 72 unloads the buckets 9 on the truck 8 into the buffer storage location 12, thus avoiding interference between the two transfer modules.

[0047] Example 10: As an optimization of Example 9, such as Figure 1 and Figure 11 As shown, the pallet 21 of the pallet conveyor line 2 has a built-in second pressure sensor.

[0048] It should be noted that the second pressure sensor is electrically connected to an external host computer (not shown in the figure, but can be set as an industrial-grade industrial control computer). The host computer determines whether there is a barrel on the tray 21 based on the signal transmitted by the second pressure sensor. When there is a barrel, a barrel model image is generated on the screen of the host computer on the tray 21. Based on the image, it is determined whether the second transfer module 72 should put the barrel into the buffer storage location 12. The tray 21 contains a first wireless communication module electrically connected to the second pressure sensor. The first controller of the second transfer module 72 contains a second wireless communication module. The first wireless communication module is configured to send signals to the second wireless communication module to achieve wireless communication connection between the second position sensor and the second transfer module 72. The wireless communication module can be a Bluetooth module, a Wi-Fi module, or a ZigBee module. For example, the first wireless communication module is configured as a communication chip based on the Bluetooth 5.0 protocol (e.g., nRF52832), which includes a radio frequency transceiver unit and an antenna. This module is electrically connected to the signal output terminal of the second position sensor through wires on the PCB board. Similarly, the second wireless communication module is configured on the circuit board of the controller of the second transfer module 72 to receive data packets from the first wireless communication module and convert them into digital signals that can be recognized by the controller of the second transfer module 72.

[0049] Specifically, the first wireless communication module is embedded in the hollow cavity of the elastic member 312. A pressure-resistant gap is provided between the first wireless communication module and the inner wall of the central control cavity near the central axis of the base 313, so as to prevent the elastic member 312 from squeezing the first wireless communication module when it is elastically compressed, thereby protecting the first wireless communication module.

[0050] After the truck 8 is parked in parking space 11, the visual judgment camera 4 judges the stopping position of the truck 8 and the stacking position of the material bucket 9, and sends the information to the warehouse control personnel and the gantry robot. After the warehouse control personnel confirm, the gantry robot starts unloading and unloads the material bucket 9 onto the pallet conveyor line 2 in sequence. During the unloading process, the host computer determines whether the material buckets 9 have been put into storage. When the number of material buckets 9 on the pallet conveyor line 2 is lower than the preset value, the host computer sends a non-in-storage instruction. The first transfer module 71 and the second transfer module 72 work together to unload the material buckets 9 from the truck 8 onto the pallet conveyor line 2. The blocking cylinder 22 of the pallet conveyor line 2 opens, and the material buckets 9 flow to the workshop processing area. When the number of material buckets 9 on the pallet conveyor line 2 reaches the preset value, the host computer sends an in-storage instruction. The blocking cylinder 22 is adjusted to the blocking position, the first transfer module 71 stops unloading, and the second transfer module 72 unloads the material buckets 9 from the truck 8 into the buffer storage location 12.

[0051] In this embodiment, the pallet conveyor line 2 is also equipped with a blocking cylinder 22 (such as a buffer blocking cylinder 22 of model ZDTC 50) and a lifting platform 23. When the blocking cylinder 22 is adjusted to the blocking position, the pallet 21 and the material bucket 9 on it are blocked by the blocking cylinder 22 and stop moving. Then the pallet 21 and the material bucket 9 are lifted by the lifting platform 23 to avoid frictional wear between the pallet 21 and the pallet conveyor line 2 body.

[0052] The embodiments of the invention have been described above with reference to the accompanying drawings. However, the embodiments are not limited to the specific implementation methods described above. The specific implementation methods described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the embodiments without departing from the spirit of the embodiments and the scope of protection of the claims, and all of these forms are within the protection scope of the embodiments.

Claims

1. An automatic unloading device for barrelled materials, characterized in that, include: The gantry robot has a parking space (11), a buffer storage space (12) and a conveying space (13) below it. The conveying space (13) is equipped with a pallet conveying line (2). The end effector of the gantry robot is equipped with a gripping mechanism (3) for gripping a bucket (9). The gantry robot is also equipped with a vision judgment camera (4).

2. The automatic unloading device for drummed materials according to claim 1, characterized in that, The drive mechanism (5) includes a lateral drive structure (51), a longitudinal drive structure (52), and a vertical drive structure (53). The lateral drive structure (51) is mounted on the mounting frame (6) of the gantry robot. The longitudinal drive structure (52) is connected to the output end of the lateral drive structure (51). The vertical drive structure (53) is connected to the output end of the longitudinal drive structure (52). The gripping mechanism (3) is connected to the output end of the vertical structure. The driving directions of the lateral drive structure (51), the longitudinal drive structure (52), and the vertical drive structure (53) are perpendicular to each other.

3. The automatic unloading device for drummed materials according to claim 2, characterized in that, The visual judgment camera (4) is fixedly installed on the base (521) of the longitudinal drive structure (52).

4. The automatic unloading device for drummed materials according to claim 2, characterized in that, The gripping mechanism (3) includes a four-claw centering gripper (31) connected to the drive mechanism (5), and an elastic element (312) is detachably installed on the inner side of the claw (311) of the four-claw centering gripper (31).

5. The automatic unloading device for drummed materials according to claim 4, characterized in that, The elastic element (312) is fixedly installed on the inner side of the claw (311) by a bolt (3111), and the head of the bolt (3111) is embedded in the elastic element (312).

6. The automatic unloading device for drummed materials according to claim 4, characterized in that, The elastic element (312) is provided with a clamping arc surface (3121).

7. The automatic unloading device for drummed materials according to claim 6, characterized in that, The top of the elastic member (312) is provided with a blocking surface (3122), and the clamping arc surface (3121) is perpendicular to the blocking surface (3122).

8. The automatic unloading device for drummed materials according to claim 4, characterized in that, The gripping mechanism (3) further includes an angle adjustment component (33) hinged to the base (313) of the four-claw centering gripper (31) via a ball joint (32). The angle adjustment component (33) includes a connecting seat (331) and a telescopic drive member (332). The connecting seat (331) is fixedly connected to the bottom end of the vertical drive structure (53). At least two telescopic drive members (332) are provided. The two ends of the telescopic drive member (332) are respectively hinged to the base (313) and the connecting seat (331). The elastic member (312) has two first pressure sensors (3112) distributed vertically inside.

9. The automatic unloading device for drummed materials according to claim 8, characterized in that, The drive mechanism (5) and the gripping mechanism (3) are combined to form a transfer module. The transfer module is provided in two sets, namely a first transfer module (71) and a second transfer module (72) arranged sequentially along the conveying direction of the pallet conveyor line (2). The first transfer module (71) is configured to unload the material bucket (9) on the truck (8) onto the pallet conveyor line (2). The second transfer module (72) is configured to unload the material bucket (9) on the truck (8) onto the pallet conveyor line (2) or the buffer storage location (12).

10. The automatic unloading device for drummed materials according to claim 9, characterized in that, The pallet (21) of the pallet conveyor line (2) has a built-in second pressure sensor.

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