Traditional Chinese medicine warehouse bottom valve feeding equipment, automatic feeding method and system

Abstract

The application discloses a traditional Chinese medicine bin bottom valve feeding equipment, an automatic feeding method and system, and relates to the technical field of traditional Chinese medicine feeding. The equipment comprises a feeding robot, an AGV, a bin, a connecting frame and a bin frame. The connecting frame is provided with clamping mechanisms around the connecting frame, and a transfer frame is arranged below the connecting frame. A bayonet is formed in the bottom of the bin, and a bin bottom valve is arranged at the bayonet. The bin bottom valve is inserted into the bayonet through a plug to block the bottom opening of the bin. A clamping piece is arranged on the connecting frame, and the bin bottom valve can be clamped in a detachable and parallel manner by the clamping piece to control the opening and closing of the bin. The application cooperates with AGV, the feeding robot, 3D vision and a DCS system to realize unmanned operation in the whole process of material transfer, docking feeding, material blocking and arch breaking and data recording. The equipment is accurately positioned and stably clamped, can automatically handle the problem of material arching and blocking, avoids the safety risk of manual operation, improves the feeding efficiency, and realizes the whole-process traceability of production data.

Description

Technical Field

[0001] This invention relates to the field of traditional Chinese medicine feeding technology, specifically to a traditional Chinese medicine silo bottom valve feeding device, an automatic feeding method, and a system. Background Technology

[0002] Currently, the traditional Chinese medicine extraction industry uses manual labor, such as using wheelbarrows and shovels, to manually add materials.

[0003] The current method of feeding 500-600 kg of material per batch into a 6t extraction tank requires manual transportation using trolleys and feeding using shovels. This method suffers from high labor intensity, the risk of feeding the wrong equipment, high labor costs, and low automation. Existing technology requires building a separate feeding layer on top of the extraction tank during the initial construction phase. This feeding layer connects to the extraction tank via a telescopic feeding bucket, resulting in high construction costs. The height from the feeding port to the bottom of the tank is typically 6-8 meters, and the prolonged tipping feeding process affects the equipment's lifespan. Furthermore, the telescopic feeding bucket has poor sealing, leading to significant dust leakage. Therefore, this invention proposes a novel automatic feeding method and system using a bottom valve to address the problems of low automation and poor sealing and dust leakage in traditional feeding processes. Summary of the Invention

[0004] The purpose of this invention is to provide a traditional Chinese medicine storage bottom valve feeding device, an automatic feeding method and system, to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a traditional Chinese medicine storage bottom valve feeding device, comprising; Feeding robots, AGV vehicles, and feeding racks; The feeding rack includes a transfer rack, a hopper rack, and a hopper. The transfer rack is located above the hopper rack and is stacked together. The connecting frame is equipped with clamping mechanisms around its perimeter, which are used to clamp the transfer frame. The bottom of the silo is provided with a slot, and a bottom valve is provided at the slot. The bottom valve is inserted into the slot through a slide plate to seal the bottom opening of the silo. The connecting frame is equipped with clamping components. The hopper is opened and closed by first separating the hopper from the bottom valve and then clamping it in parallel.

[0006] Further, the clamping mechanism is a four-jaw chuck type. The clamping mechanism clamps the hopper by abutting against the four sides of the transfer frame. The hopper frame is also a rectangular structure, and the length and width of the hopper frame and the transfer frame are the same when viewed from above.

[0007] Further, the silo itself is conical with an opening at the bottom. A slot is provided on the side of the bottom of the silo. The bottom valve includes a baffle plate, which is inserted into the slot to block the bottom opening and prevent material from spilling.

[0008] Furthermore, the connecting frame is also equipped with a side frame, which is vertically arranged and has a clamping component at its bottom. The clamping component includes a telescopic component installed at the bottom of the side frame, and a gripper is installed at the telescopic end of the telescopic component. The clamping component uses the gripper to extract the bottom valve.

[0009] Furthermore, the bottom valve of the silo also includes a bracket, on the side of the bracket facing the silo, a support plate is fixed, the support plate is horizontally set and fixed to the insert plate, and the gripper of the clamping component pulls the bottom valve away from the silo by gripping the bracket.

[0010] Furthermore, the solution also includes an arch-breaking mechanism, which is installed on the connecting frame and is used to break up the arched materials in the hopper.

[0011] An automatic feeding method, comprising the aforementioned silo bottom valve feeding device, includes the following steps: Step 1: After the material bins have finished weighing and dispensing, the AGV vehicle will proceed to retrieve the materials. Step 2: After the material bin is weighed and dispensed, it is placed in the feeding rack. After the feeding rack is retrieved, the system simultaneously obtains the material bin information, the material information in the material bin, and the feeding task. Step 3: The AGV transports the hopper to the docking position with the feeding robot; Step 4: After the AGV vehicle lowers the hopper, it returns to the rest station; Step 5: The feeding robot picks up the transfer frame; Step Six: The feeding system requests feeding from the DCS system, and the DCS system opens the lid of the corresponding extraction tank; Step 7: The feeding robot connects the material bin to the tank interface of the extraction tank; Step 8: The feeding robot opens the bottom valve of the silo to release the material; Step 9: The 3D vision system judges the state inside the silo. If there is a blockage, the feeding robot activates the arch-breaking function to break the blockage. Step 10: The 3D vision system judges the status inside the silo. If the material inside the silo has been emptied, it reports to the system to complete the feeding process. Step 11: The feeding robot closes the bottom valve and the arch-breaking mechanism, and returns the hopper to the docking position; Step 12: The AGV vehicle arrives at the docking station and delivers the hopper to the cleaning area or waiting area; Step 13: The system records the feeding time, feeding material information, and weight information.

[0012] Further, in step nine, the 3D vision system continuously collects three-dimensional point cloud data of the material inside the silo. When it detects that the point cloud distribution of the material at the bottom opening of the silo forms an arched suspended area above the bottom discharge port, and the material flow stops but there is still material in the silo, it is determined that arching has occurred. The control system sends an arch-breaking command to the arch-breaking mechanism, which breaks up the arched material. When the 3D vision system detects that the point cloud distribution of the material in the silo has returned to normal flow, the control system sends a stop command to the arch-breaking mechanism, and the arch-breaking mechanism resets.

[0013] Further, in step four, before the AGV vehicle lowers the hopper and returns to the rest station, the feeding robot controls the transfer frame to move and make the transfer frame coincide with the overhead projection of the hopper frame. Then, it moves down to let the transfer frame stack on top of the hopper frame, and then the hopper is clamped by the clamping mechanism.

[0014] An automatic feeding system includes the aforementioned herbal medicine storage bottom valve feeding device. The automatic feeding system further includes: AGVs are used to pick up materials after weighing and packing, transport the hopper to the docking position of the feeding robot, and send the hopper to the cleaning area or waiting area after feeding. The feeding robot is used to grab the hopper, connect the hopper to the tank interface of the extraction tank, and release the material by opening the bottom valve of the hopper; A 3D vision system is installed on the docking frame of the feeding robot to collect three-dimensional point cloud data of the material inside the silo and determine the state of the material inside the silo. The DCS system is used to respond to feeding requests and open the lids of the corresponding extraction tanks; and The control system is used to receive the detection data from the 3D vision system and control the start and stop of the arch-breaking mechanism and the opening and closing of the bottom valve.

[0015] Compared with the prior art, the beneficial effects of the present invention are: This traditional Chinese medicine storage bottom valve feeding equipment, automatic feeding method and system rely on AGV, feeding robot and 3D vision and DCS system to work together to realize the whole process of unmanned operation of material transfer, docking feeding and material blockage breaking. The equipment is accurately positioned and has stable clamping. It can automatically handle the problem of material arching and blockage, avoid the safety risks of manual operation, improve feeding efficiency, and realize full traceability of production data.

[0016] Meanwhile, it adopts a side-mounted bottom valve, which is suitable for automated robotic opening and closing operations. The structure is simple and not easy to jam. It relies on the side-mounted valve to block the discharge port, which has a good sealing effect and can effectively prevent material leakage and dust. The external clamping opening and closing method eliminates the risk of internal material accumulation. It is stable in operation, easy to maintain, and suitable for feeding powder and granular materials. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the feeding robot and connecting frame structure of the present invention; Figure 3 This is a schematic diagram of the feeding robot and the connecting frame of the present invention. Figure 4 This is a schematic diagram of the stacked structure of the silo rack and transfer rack of the present invention; Figure 5 This is a schematic diagram of the connection structure between the connecting frame and the feeding frame of the present invention; Figure 6 This is a schematic diagram of the workflow of the 3D vision system of the present invention.

[0018] In the diagram: 1. Extraction tank; 2. Tank interface; 3. Feeding robot; 4. AGV vehicle; 5. Hopper rack; 6. Connecting rack; 601. Transfer rack; 602. Clamping mechanism; 7. Gripping component; 701. Side frame; 702. Gripper; 8. Arch breaking mechanism; 9. Hopper; 10. Hopper bottom valve; 1001. Support; 1002. Support plate; 1003. Insert plate. Detailed Implementation

[0019] 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.

[0020] like Figures 1-6 As shown, the present invention provides a technical solution comprising the following steps: Step 1: After the material bin 9 completes the weighing and packing, the AGV vehicle 4 goes to pick up the material.

[0021] Step 2: After the material bin 9 is weighed and placed in the feeding rack, the system will simultaneously obtain information about the material bin 9, the material information in the material bin 9, and the feeding task after the feeding rack is retrieved.

[0022] Step 3: AGV vehicle 4 moves the feeding rack to the docking position with feeding robot 3.

[0023] Step 4: The feeding robot 3 grabs and transfers the transfer frame 601.

[0024] Step 5: After the feeding robot 3 grabs the transfer frame 601, it carries the hopper frame 5 back to the rest station.

[0025] Step 6: The feeding system requests feeding from the DCS system, and the DCS system opens the lid of the corresponding extraction tank 1.

[0026] Step 7: The feeding robot 3 docks the material bin 9 with the tank interface 2 of the extraction tank 1.

[0027] Step 8: The feeding robot 3 opens the bottom valve 10 of the silo to discharge the material.

[0028] Step 9: The 3D vision system judges the state inside the silo 9. If there is a blockage, the feeding robot 3 activates the arch-breaking function to break the blockage.

[0029] Step 10: The 3D vision system judges the status inside silo 9. If the material inside silo 9 has been emptied, the system is reported to complete the feeding process.

[0030] Step 11: The feeding robot 3 closes the bottom valve 10 and the arch-breaking mechanism 8, and puts the hopper 9 back into the docking position.

[0031] Step 12: AGV vehicle 4 delivers hopper 9 to the cleaning area or waiting area at the docking station.

[0032] Step 13: The system records the feeding time, feeding material information, and weight information.

[0033] like Figure 4 and Figure 5 As shown, in step three, the AGV vehicle 4 transports the hopper 9 to the docking position with the feeding robot 3 by transferring the feeding frame. The feeding frame includes a transfer frame 601 and a hopper frame 5. Both the hopper frame 5 and the transfer frame 601 are rectangular frames formed by welding steel pipes. The overhead projections of the transfer frame 601 and the hopper frame 5 overlap. The hopper 9 is fixed to the inner wall of the transfer frame 601. After the hopper 9 has finished weighing, the transfer frame 601 is placed on top of the hopper frame 5. Limiting plates are set around the hopper frame 5 to prevent the transfer frame 601 from shaking or shifting during the movement.

[0034] like Figure 2 and Figure 3As shown, a connecting frame 6 is provided at the robotic arm of the feeding robot 3. A clamping mechanism 602 is provided around the connecting frame 6. The clamping mechanism 602 is similar to a four-jaw chuck. Specifically, the clamping mechanism 602 is used to clamp the transfer frame 601. The clamping mechanism 602 can be driven by a cylinder or a hydraulic cylinder. The clamping action is achieved by abutting the transfer frame 601 at the top and around the connecting frame 601. For example, four sets of horizontally arranged hydraulic cylinders are used. The end of the extension and retraction end of each hydraulic cylinder is fixed with a stop plate. The clamping effect is achieved by the stop plate abutting the transfer frame 601. In this embodiment, the clamping mechanism 602 can be any clamping device installed around the connecting frame 6 to stabilize the transfer frame 601. In step three, the connecting position of the feeding robot 3 is located directly below the overhead projection of the transfer frame 601.

[0035] like Figure 4 As shown, in step two, after the material bin 9 completes the weighing and distribution, the collaborative transfer frame 601 is placed at the material bin frame 5. It should be noted that the top view projection length and width of the material bin frame 5 and the transfer frame 601 are the same, which facilitates the docking of the connecting frame 6.

[0036] like Figure 4 As shown, a bottom valve 10 is also provided at the bottom of the silo 9. The presence of the bottom valve 10 allows the material in the silo 9 to be stored stably in the silo 9. Specifically, the silo 9 itself is conical with an opening at the bottom. When the bottom valve 10 is opened, the material in the silo 9 is discharged from the bottom of the silo 9 under the action of gravity. A slot is provided on the side of the bottom of the silo 9. The bottom valve 10 includes a baffle plate 1003. The baffle plate 1003 is inserted into the slot to block the bottom opening and prevent the material from spilling.

[0037] Looking back Figure 3 A side frame 701 is also provided on the connecting frame 6. The side frame 701 is vertically arranged and a clamping component 7 is provided at the bottom of the side frame 701. The clamping component 7 includes a hydraulic cylinder, or a pneumatic cylinder, linear slide, or other telescopic component installed at the bottom of the side frame 701. A gripper 702 is installed at the telescopic end of the telescopic component. The clamping component 7 uses the gripper 702 to extract the bottom valve 10.

[0038] To ensure the smooth implementation of the above embodiments, it is necessary to understand that the bottom valve 10 also includes a bracket 1001. A support plate 1002 is fixed on the side of the bracket 1001 facing the hopper 9. The support plate 1002 is horizontally arranged and fixed to the insert plate 1003. The gripper 702 of the clamping member 7 pulls the bottom valve 10 away from the hopper 9 by gripping the bracket 1001.

[0039] It is also necessary to understand that the bottom valve 10 can be pulled away by the gripper 702 by stably gripping the bracket 1001 with any form of gripper 702. For example, when the end of the bracket 1001 being gripped is a regular side plate, the gripper 702 can be a parallel gripper 702. When the end of the bracket 1001 being gripped is a circular joint, the gripper 702 can be a three-finger gripper 702. The form of the gripper 702 and the bracket 1001 is based on the ability of the gripper 702 to stably grip the bracket 1001.

[0040] To ensure the smooth implementation of the above embodiments, it is necessary to understand that the robot's arch-breaking function is achieved through an arch-breaking mechanism 8 installed on the connecting frame 6. The arch-breaking mechanism 8 includes a vertically arranged auger and a chain lift installed on the connecting frame 6. The shell part of the auger is installed at the chain lift, and the chain lift controls the auger to move vertically. The chain lift can also be a component such as a hydraulic cylinder, pneumatic cylinder, or linear slide that can be installed on the connecting frame 6 and control the components to perform linear lifting movements, so as to extend the auger into the hopper 9 to achieve the arch-breaking function of the material.

[0041] The 3D vision system is installed on the top or side of the connecting frame 6, and its detection field covers the internal space of the silo 9. The 3D vision system continuously collects three-dimensional point cloud data of the material inside the silo 9 and transmits the point cloud data to the control system. The control system processes and analyzes the point cloud data. When it detects that the point cloud distribution of the material in the silo 9 forms an arched suspended area above the bottom outlet, that is, when the material flow at the bottom opening of the silo 9 stops but there is still material in the silo 9, it is determined that arching has occurred. The control system then sends an arch-breaking command to the arch-breaking mechanism 8. The chain elevator responds to the command and drives... The auger moves downward, extending into the arched area inside the hopper 9 and rotating. The rotating auger breaks up the arched material. When the 3D vision system detects that the material point cloud distribution inside the hopper 9 has returned to normal flow, the control system sends a stop command to the arch-breaking mechanism 8. The chain elevator drives the auger to reset upward, and the auger exits the hopper 9. The material inside the hopper 9 continues to be discharged from the bottom opening by its own weight. If the 3D vision system detects that the material inside the hopper 9 has been completely emptied, it reports to the system that the feeding has been completed. The control system then controls the robot to close the bottom valve 10 and the arch-breaking mechanism 8, proceeding to step eleven.

[0042] In step four, the feeding robot 3 grabs the transfer frame 601. The feeding robot 3 controls the connecting frame 6 to move directly above the transfer frame 601, and then moves down to clamp the transfer frame 601 through the clamping mechanism 602. At this time, it is important to note that the hydraulic cylinder or air cylinder of the clamping component 7 is in a retracted state to avoid contact with the frame. The feeding robot 3 can control the connecting frame 6 to move and clamp the transfer frame 601 through visual guidance. An industrial camera can be installed at the end of the connecting frame 6 or the feeding robot 3, and a positioning mark can be set on the transfer frame 601. The positional deviation between the connecting frame 6 and the transfer frame 601 can be calculated through image recognition, and the feeding robot 3 can compensate for the movement to achieve overlap. Alternatively, positioning can be achieved through laser rangefinder sensors or photoelectric sensor arrays.

[0043] In step eight, the feeding robot 3 opens the bottom valve 10 to release material, and uses the clamping component 7 to clamp the bracket 1001 of the bottom valve 10. Then it moves in parallel to pull the insert plate 1003 of the bottom valve 10 out of the hopper 9 to complete the opening action of the bottom valve 10.

[0044] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended embodiments and their equivalents.

Claims

1. An automatic feeding method, employing a traditional Chinese medicine storage silo bottom valve feeding device, characterized in that, The device includes: Feeding robot (3), AGV vehicle (4), connecting frame (6), feeding rack and hopper (9), the connecting frame (6) is set at the robot arm of the feeding robot (3); The feeding rack includes a transfer rack (601) and a hopper rack (5). The transfer rack (601) is located above the hopper rack (5) and is stacked. The connecting frame (6) is provided with a clamping mechanism (602) around its perimeter, which is used to clamp the transfer frame (601). The bottom of the silo (9) is provided with a slot, and a bottom valve (10) is provided at the slot. The bottom valve (10) is inserted into the slot through a plate (1003) to block the bottom opening of the silo (9). The connecting frame (6) is provided with a clamping component (7), which clamps the bottom valve (10) of the silo in parallel to control the opening and closing of the silo (9). The connecting frame (6) is also provided with a side frame (701), which is vertically arranged and the clamping component (7) is located at the bottom of the side frame (701). The clamping mechanism (602) is a four-jaw chuck type. The clamping mechanism (602) clamps the hopper (9) by abutting against the four sides of the transfer frame (601). The hopper frame (5) is also a rectangular structure, and the length and width of the hopper frame (5) and the transfer frame (601) are the same in the overhead projection. The clamping component (7) includes a telescopic component installed at the bottom of the side frame (701), and a gripper (702) is installed at the telescopic end of the telescopic component. The clamping component (7) uses the gripper (702) to extract the bottom valve (10). It also includes an arch-breaking mechanism (8), which is installed on the connecting frame (6) and is used to break up the arched material in the silo (9); The method includes the following steps: Step 1: After the material bin (9) has completed weighing and packing, the AGV vehicle (4) goes to pick up the material; Step 2: After the material bin (9) is weighed and placed in the feeding rack, the system will simultaneously obtain the information of the material bin (9), the material information in the material bin (9), and the feeding task after the feeding rack is retrieved; Step 3: The AGV vehicle (4) transports the hopper (9) to the docking position of the feeding robot (3); Step 4: After the AGV vehicle (4) lowers the hopper (9), it returns to the rest station; Step 5: The feeding robot (3) grabs the transfer frame (601). At this time, the telescopic part of the gripper (7) is in a retracted state to avoid contact with the frame. Then the feeding robot (3) lifts the transfer frame (601) to the feeding port. Step 6: The feeding system requests feeding from the DCS system, and the DCS system opens the lid of the corresponding extraction tank (1); Step 7: The feeding robot (3) docks the hopper (9) with the tank interface (2) of the extraction tank (1); Step 8: The feeding robot (3) releases material by clamping the bottom valve (10) with the gripper (702) of the gripper (7) and then moving it horizontally to open the bottom valve (10); Step 9: The 3D vision system judges the state inside the silo (9). If there is a blockage, the feeding robot (3) opens the arch-breaking function to break the arch. Step 10: The 3D vision system judges the status inside the silo (9). If the material inside the silo (9) has been emptied, the system is reported to complete the feeding. Step 11: The feeding robot (3) closes the bottom valve (10) and the arch-breaking mechanism (8), and puts the hopper (9) back into the docking position; Step 12: The AGV vehicle (4) delivers the hopper (9) to the cleaning area or waiting area at the docking station; Step 13: The system records the feeding time, feeding material information, and weight information.

2. The automatic feeding method according to claim 1, characterized in that: The silo (9) itself is conical.

3. The automatic feeding method according to claim 1, characterized in that: The bottom valve (10) also includes a bracket (1001). A support plate (1002) is fixed on the side of the bracket (1001) facing the silo (9). The support plate (1002) is horizontally set and fixed to the insert plate (1003). The gripper (702) of the clamping member (7) pulls the bottom valve (10) away from the silo (9) by gripping the bracket (1001).

4. The automatic feeding method according to claim 1, characterized in that: In step nine, the 3D vision system continuously collects three-dimensional point cloud data of the material inside the silo (9). When it is detected that the point cloud distribution of the material at the bottom opening of the silo (9) forms an arched suspended area above the bottom opening, and the material flow stops but there is still material in the silo (9), it is determined that arching has occurred. The control system sends an arch-breaking command to the arch-breaking mechanism (8), and the arch-breaking mechanism (8) breaks up the arched material. When the 3D vision system detects that the point cloud distribution of the material in the silo (9) has returned to normal flow, the control system sends a stop command to the arch-breaking mechanism (8), and the arch-breaking mechanism (8) is reset.

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