Robot automation equipment applied to high-speed cement loading

Abstract

The utility model discloses robot automation equipment applied to high-speed cement loading, which comprises an identification unit, the identification unit comprises a scanner, an upper computer and a controller, and the scanner is fixedly arranged on the ground of a transfer room and is used for scanning bagged cement transfer vehicle models. An identification unit is arranged on the basis of a high-speed cement loading robot automation technology, so that a scanner on the identification unit performs laser scanning on different vehicle types entering a transfer room, and an upper computer analyzes transfer vehicle type information acquired by the laser scanner; the upper computer is used for reading data information such as the vehicle length, the vehicle width, the vehicle head height, the vehicle tail height and the breast board height of the transfer vehicle type, so that the upper computer analyzes the loadable mode and the loading quantity of the transfer vehicle type, the upper computer transmits the information to the controller in time, and the controller transmits the compiled running track to the flexible robot; and the information acquired by the flexible robot is executed, so that the flexible robot transfers the bagged cement at a high speed.

Description

Technical Field

[0001] The utility model relates to the technical field of automation, in particular to robot automation equipment used for high-speed cement loading. Background Art

[0002] The shipping workshop of the cement factory is the transfer room for bagged cement. A large amount of bagged cement needs to be transferred from the workshop to different vehicles. Due to the large shipment volume of bagged cement and the large amount of dust generated during the transfer, it causes environmental pollution and affects the personal safety of the personnel in the transfer workshop.

[0003] During the transportation of existing bagged cement, a robotic arm is used to load the cement into trucks. However, existing flexible robots cannot cope with a variety of transportation vehicles such as cars, trucks, and flatbed trucks. Furthermore, the cement bags cannot be leveled during the loading process. Therefore, a flexible robot automatic loading equipment that can cope with a variety of vehicle types is needed to cope with the transportation of bagged cement in the shipping workshop of a cement factory. Utility Model Content

[0004] In view of the above-mentioned defects or deficiencies in the prior art, it is desired to provide a robotic automation equipment for high-speed cement loading, which is used to solve the problem that the existing flexible robots cannot cope with a variety of transport vehicles such as cars, trucks, flatbed trucks, etc. during use, and cannot level the cement bags in the cement loading process. Therefore, there is a need for flexible robotic automatic loading equipment that can cope with a variety of vehicle models to cope with the technical problem of bagged cement transportation in the shipping workshop of the cement factory.

[0005] According to the technical solution provided by the embodiment of the present application, a robot automation equipment applied to high-speed cement loading includes an identification unit, which includes a scanner, a host computer and a controller. The scanner is fixedly installed on the ground of the transfer room and is used to scan the bagged cement transfer vehicle. The host computer is installed on the side of the scanner so that the host computer processes and analyzes the data obtained by the scanner, thereby confirming the relevant information of the transfer vehicle and the vehicle body, and the host computer is electrically connected to the controller through a connecting line so that the host computer transmits the obtained information to the controller, so that the controller controls the flexible robot to execute the shipping trajectory;

[0006] A moving unit, which is fixedly installed on the ground of the transfer room and is used for horizontal movement of the flexible robot;

[0007] The flexible robot includes a mounting seat, a mechanical arm, a rotating mechanism, a plurality of clamping mechanisms and a plurality of leveling mechanisms. The mounting seat is movably mounted on the slide rail on the mobile unit, and the mechanical arm is fixedly mounted on the top of the mounting seat. The front end of the mechanical arm is fixedly connected to the rotating mechanism, and on the working plate on the rotating mechanism, a plurality of the clamping mechanisms are installed in parallel and at intervals in the adjustment groove at the bottom of the working plate, so that the plurality of the clamping mechanisms can clamp and transport the bagged cement, and a plurality of the leveling mechanisms are also fixedly mounted on the bottom of the working plate, and the leveling mechanism is installed between two of the clamping mechanisms for leveling the bagged cement after transportation.

[0008] Furthermore, the scanner includes a support frame and a laser scanner, the support frame is a U-shaped structure, and the laser scanner is fixedly installed on the inner side of the support frame, so that the scanner performs laser scanning on different vehicle types passing through the support frame to obtain information on different transport vehicle types.

[0009] Furthermore, the mobile unit includes a supporting platform, a slide rail, a driving mechanism and a plurality of protective plates. The slide rail is horizontally fixedly installed on the top of the supporting platform, and the mounting seat on the flexible robot is slidably connected to the slide rail, and the driving mechanism is installed at the tail end of the slide rail, so that the driving mechanism drives the rack on the slide rail to rotate, so that the rack drives the mounting seat to move along the length direction of the slide rail, and the top of the supporting platform is also equipped with a plurality of protective plates that are fixedly installed in parallel and corresponding manner, so that the plurality of protective plates can provide safety protection for the flexible robot.

[0010] Furthermore, the driving mechanism includes a first rotating driving member, which is fixedly connected to a driving rod meshingly connected to the rack, so that the first rotating driving member drives the annular rack to rotate.

[0011] Furthermore, the rotating mechanism includes a second rotating driving member and the working plate, and the output end of the second rotating driving member is fixedly connected to the working plate to rotate several clamping mechanisms and several leveling mechanisms fixedly installed on the bottom of the working plate, so as to adjust the transportation and placement orientation of the bagged cement.

[0012] Furthermore, the clamping mechanism includes a third rotating drive member, a connecting rod, a plurality of first bevel gears, a plurality of second bevel gears, a plurality of screw rods and a plurality of clamping rods, the plurality of clamping rods are arranged in parallel and correspondingly screwed on each of the screw rods, and the tail end of each screw rod is fixedly connected to each of the second bevel gears, and each of the second bevel gears is meshingly connected to the corresponding first bevel gears, a plurality of the first bevel gears are arranged in parallel and fixedly installed on the connecting rod at intervals, and the connecting rod is fixedly connected to the output end of the third rotating drive member, so that the third rotating drive member drives the two clamping rods correspondingly installed on each of the screw rods to move relative to each other, so that the plurality of clamping rods clamp and transport bagged cement.

[0013] Furthermore, the leveling mechanism includes a telescopic driving member, a connecting plate, and a leveling roller. The leveling roller is movably installed in the middle of the connecting plate, and the top of the connecting plate is fixedly connected to the output end of the telescopic driving member, so that the telescopic driving member drives the leveling roller to move downward, so that the leveling roller can sort the bagged cement after transportation.

[0014] Furthermore, the leveling mechanism also includes two positioning rods, which are vertically arranged in parallel and fixedly installed at intervals on the top of the connecting plate, and are used for positioning and moving the leveling mechanism.

[0015] In summary, the beneficial effects of this application are:

[0016] 1. By setting an identification unit on the high-speed cement loading robot automation technology, the scanner on the identification unit performs laser scanning on different vehicle types entering the transfer room, so that the host computer analyzes the transfer vehicle type information obtained by the laser scanner, so that the host computer reads the data information such as the length, width, front height, rear height, and railing height of the transfer vehicle type, so that the host computer analyzes the loading mode and loading quantity of the transfer vehicle type, so that the host computer transmits the information to the controller in time, so that the controller transmits the compiled running trajectory to the flexible robot, so that the flexible robot executes the information obtained by the flexible robot, so that the flexible robot transfers bagged cement at high speed, and improves the bagged cement transfer efficiency of the cement factory shipping workshop;

[0017] Second, by setting a leveling mechanism on the flexible robot, the telescopic driving member on the leveling mechanism drives the fixedly connected connecting plate to move in the vertical direction, so that the leveling roller movably connected in the middle of the connecting plate contacts the bagged cement after transport on the transfer vehicle, so that the robotic arm drives the working plate to move, so that the leveling roller rolls, and the bagged cement after transport is leveled, so that the bagged cement after transport can be placed flatly in the transfer vehicle without affecting the loading of the bagged cement, thereby improving the accuracy and practicality of the automation technology of the high-speed cement loading robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0019] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the structure of the flexible robot of the utility model;

[0021] Figure 3 This is a schematic diagram of the connection structure of the clamping mechanism and the leveling mechanism of the utility model;

[0022] Figure 4 This is a schematic diagram of the structure of the clamping mechanism of the utility model;

[0023] Figure 5 It is a schematic diagram of the structure of the leveling mechanism of the utility model.

[0024] Numbers in the figure: identification unit 100, scanner 110, host computer 120, controller 130, connecting line 140, mobile unit 200, support platform 210, slide rail 220, drive mechanism 230, protective plate 240, flexible robot 300, mounting base 310, robotic arm 320, rotating mechanism 330, working plate 331, second rotating drive member 332, clamping mechanism 340, third rotating drive member 341, connecting rod 342, first bevel gear 343, second bevel gear 344, screw 345, clamping rod 346, leveling mechanism 350, telescopic drive member 351, connecting plate 352, leveling roller 353, positioning rod 354. DETAILED DESCRIPTION

[0025] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant utility model, rather than to limit the utility model. It is also necessary to explain that, for ease of description, only the parts related to the utility model are shown in the accompanying drawings.

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] A robot automation equipment used for high-speed cement loading, its structure is as follows Figure 1-Figure 5As shown, it includes an identification unit 100, a mobile unit 200, and a flexible robot 300. The identification unit 100 includes a scanner 110, a host computer 120 and a controller 130. The scanner 110 is fixedly installed on the ground of the transfer room and is used for scanning the bagged cement transfer vehicle. The host computer 120 is installed on the side of the scanner 110 so that the host computer 120 processes and analyzes the data obtained by the scanner 110, thereby confirming the relevant information of the transfer vehicle and the vehicle body, and the host computer 120 is electrically connected to the controller 130 through a connecting line 140 so that the host computer 120 transmits the obtained information to the controller 130, so that the controller 130 controls the flexible robot 300 to execute the shipping trajectory; the mobile unit 200 is fixedly installed on the ground of the transfer room and is used for the flexible robot 30 0 horizontal movement; the flexible robot 300 includes a mounting seat 310, a robotic arm 320, a rotating mechanism 330, a plurality of clamping mechanisms 340 and a plurality of leveling mechanisms 350, the mounting seat 310 is movably mounted on the slide rail on the mobile unit 200, and the robotic arm 320 is fixedly mounted on the top of the mounting seat 310, the front end of the robotic arm 320 is fixedly connected to the rotating mechanism 330, and on the working plate 331 on the rotating mechanism 330, and a plurality of clamping mechanisms 340 are installed in parallel and at intervals in the adjusting groove at the bottom of the working plate 331, so that the plurality of clamping mechanisms 340 can clamp and transport the bagged cement, and a plurality of leveling mechanisms 350 are also fixedly installed at the bottom of the working plate 331, and the leveling mechanism 350 is installed between two clamping mechanisms 340 for leveling the bagged cement after transportation.

[0028] When in use, the bagged cement that needs to be transferred is stacked in the transfer room, and the scanner 110 of the identification unit 100 is fixedly installed at the entrance of the transfer room, so that the laser scanner 112 on the scanner 110 scans the transfer vehicle entering the entrance, so that the laser scanner 112 obtains the vehicle information of the transfer vehicle, so that the host computer 120 of the identification unit 100 timely analyzes the scanned information, so as to calculate the loading quantity and loading method of the transfer vehicle, so that the host computer 120 timely transmits the information to the controller 130, so that the controller 130 transmits the execution command to the flexible robot 300, so that the flexible robot 300 clamps and loads the bagged cement, and at the same time At the same time, the driving mechanism 230 on the mobile unit 200 is started, so that the driving mechanism 230 drives the flexible robot 300 slidably mounted on the slide rail 220 to move along the slide rail 220, so that the flexible robot 300 loads bagged cement at different positions, and a rotating mechanism 330 is provided on the flexible robot 300, so that the rotating mechanism 330 drives the clamping mechanism 340 and the leveling mechanism 350 to rotate, and the plurality of clamping mechanisms 340 clamp the stacked bagged cement, and the plurality of leveling mechanisms 350 provided on the flexible robot 300 level the bagged cement after loading, thereby improving the accuracy and practicality of the robot automation technology for high-speed cement loading.

[0029] As a preferred embodiment, please refer to Figure 1 The scanner 110 includes a support frame 111 and a laser scanner 112. The support frame 111 is a U-shaped structure, and the laser scanner 112 is fixedly installed on the inner side of the support frame 111, so that the scanner 110 performs laser scanning on different vehicle types passing through the support frame 111 to obtain information on different transport vehicle types.

[0030] As a preferred embodiment, please refer to Figure 1 The mobile unit 200 includes a support platform 210, a slide rail 220, a driving mechanism 230 and a plurality of protective plates 240. The slide rail 220 is horizontally fixedly installed on the top of the support platform 210, and the mounting seat 310 on the flexible robot 300 is slidably connected to the slide rail 220. The driving mechanism 230 is installed at the tail end of the slide rail 220, so that the driving mechanism 230 drives the rack on the slide rail 220 to rotate, so that the rack drives the mounting seat 310 to move along the length direction of the slide rail 220, and a plurality of protective plates 240 are also fixedly installed in parallel and corresponding manner on the top of the support platform 210, so that the plurality of protective plates 240 can provide safety protection for the flexible robot 300.

[0031] As a preferred embodiment, please refer to Figure 1The driving mechanism 230 includes a first rotating driving member, which is fixedly connected to a driving rod meshing with a rack, so that the first rotating driving member drives the annular rack to rotate, so that the rack drives the mounting seat 310 on the flexible robot 300 to move along the length direction of the slide rail 220, so that the flexible robot 300 can be moved to load the stacked bagged cement.

[0032] As a preferred embodiment, please refer to Figure 2 and Figure 3 The rotating mechanism 330 includes a second rotating driving member 332 and a working plate 331. The output end of the second rotating driving member 332 is fixedly connected to the working plate 331, so that the second rotating driving member 332 drives a plurality of clamping mechanisms 340 and a plurality of leveling mechanisms 350 fixedly installed at the bottom of the working plate 331 to rotate, which is used to adjust the clamping, transportation and placement orientation of the bagged cement by the flexible robot 300.

[0033] As a preferred embodiment, please refer to Figure 3 and Figure 4 The clamping mechanism 340 includes a third rotating driving member 341, a connecting rod 342, a plurality of first bevel gears 343, a plurality of second bevel gears 344, a plurality of screw rods 345 and a plurality of clamping rods 346. The plurality of clamping rods 346 are arranged in parallel and correspondingly screwed on each screw rod 345, and the tail end of each screw rod 345 is fixedly connected to each second bevel gear 344, and each second bevel gear 344 is meshedly connected with the corresponding first bevel gear 343. The plurality of first bevel gears 343 are arranged in parallel and fixedly installed on the connecting rod 342 at intervals. The connecting rod 342 is fixedly connected to the output end of the third rotating driving member 341, so that when the third rotating driving member 341 drives the connection to rotate, the several first bevel gears 343 fixedly mounted on the connecting rod 342 are rotated, so that the second bevel gears 344 meshing with the respective first bevel gears 343 are rotated, so that the respective second bevel gears 344 drive the respective screw rods to rotate, so that the two clamping rods 346 correspondingly mounted on the screw rod 345 are relatively moved along the length direction of the screw rod 345, so that the several clamping rods 346 clamp and transport the bagged cement.

[0034] As a preferred embodiment, please refer to Figure 3 and Figure 5 The leveling mechanism 350 includes a telescopic driving member 351, a connecting plate 352, and a leveling roller 353. The leveling roller 353 is movably installed in the middle of the connecting plate 352, and the top of the connecting plate 352 is fixedly connected to the output end of the telescopic driving member 351, so that the telescopic driving member 351 drives the leveling roller 353 to move downward, so that the leveling roller 353 can sort the bagged cement after transportation.

[0035] As a preferred embodiment, please refer to Figure 3and Figure 5 The leveling mechanism 350 further includes two positioning rods 354 , which are vertically arranged in parallel and fixedly installed at intervals on the top of the connecting plate 352 for positioning and moving the leveling mechanism 350 .

[0036] The working principle of the utility model is:

[0037] When in use, the bagged cement that needs to be transferred is stacked in the transfer room, and the scanner 110 of the identification unit 100 is fixedly installed at the entrance of the transfer room, so that the laser scanner 112 installed on the support frame 111 on the scanner 110 can scan the different types of transfer vehicles entering the entrance, so that the laser scanner 112 can obtain the vehicle information of the transfer vehicle, so that the host computer 120 of the identification unit 100 can timely analyze the information obtained by the laser scanning, so as to calculate the loading quantity and loading method of the transfer vehicle, so that the host computer 120 can timely transmit the information to the controller 130, so that the controller 130 can transmit the execution command to the flexible robot 300, so that the flexible robot 300 can clamp and load the bagged cement, and at the same time, the driving mechanism 230 on the moving unit 200 is started, so that the driving mechanism 230 drives the flexible robot 300 slidably installed on the slide rail 220 to move along the slide rail 220, so that the flexible robot 300 can load the bagged cement. The bagged cement at the same position is loaded, and a rotating mechanism 330 is provided on the flexible robot 300, so that the rotating mechanism 330 drives the clamping mechanism 340 and the leveling mechanism 350 to rotate, and several clamping mechanisms 340 clamp and load the stacked bagged cement, and several leveling mechanisms 350 fixedly installed at the bottom of the working plate 331 on the rotating mechanism 330 on the flexible robot 300 are started, so that the telescopic driving member 351 on the leveling mechanism 350 drives the fixedly connected connecting plate 352 to move in the vertical direction, so that the leveling roller 353 movably connected in the middle of the connecting plate 352 contacts the bagged cement after transport on the transfer vehicle, so that the mechanical arm 320 drives the working plate 331 to move, so that the leveling roller 353 rolls, and the bagged cement after transport is leveled, so that the bagged cement after transport is placed flatly in the transfer vehicle, which does not affect the loading of bagged cement, and improves the accuracy and practicality of the automation technology of high-speed cement loading robots.

[0038] The above description is only an explanation of the preferred embodiments of the present application and the technical principles and other schemes used. At the same time, the scope of the utility model involved in the present application is not limited to the technical scheme formed by a specific combination of the above technical features, but also includes other technical schemes formed by any combination of the above technical features or their equivalent features without departing from the concept of the utility model. For example, the above features are replaced with the technical features with similar functions disclosed in the present application (but not limited to) to form a technical scheme.

Claims

1. A robot automation equipment used for high-speed cement loading, characterized by: The invention comprises an identification unit (100), which comprises a scanner (110), a host computer (120) and a controller (130). The scanner (110) is fixedly installed on the ground of the transfer room and is used for scanning the bag cement transfer vehicle. The host computer (120) is installed on the side of the scanner (110) so that the host computer (120) processes and analyzes the data obtained by the scanner (110) to confirm the relevant information of the transfer vehicle and the vehicle body. The host computer is electrically connected to the controller (130) through a connecting line (140) so that the host computer (120) transmits the obtained information to the controller (130) so that the controller (130) controls the flexible robot (300) to execute the shipping track. A moving unit (200) fixedly mounted on the floor of the transfer room and used for horizontal movement of the flexible robot (300); The flexible robot (300) comprises a mounting seat (310), a mechanical arm (320), a rotating mechanism (330), a plurality of clamping mechanisms (340) and a plurality of leveling mechanisms (350), wherein the mounting seat (310) is movably mounted on a slide rail (220) on the mobile unit (200), and the mechanical arm (320) is fixedly mounted on the top of the mounting seat (310), and the front end of the mechanical arm (320) is fixedly connected to the rotating mechanism (330), and the The rotating mechanism (330) is mounted on a working plate (331), and a plurality of the clamping mechanisms (340) are installed in parallel and at intervals in an adjustment groove at the bottom of the working plate (331), so that the plurality of the clamping mechanisms (340) can clamp and transport the bagged cement, and a plurality of the leveling mechanisms (350) are fixedly installed at the bottom of the working plate (331), and the leveling mechanism (350) is installed between two of the clamping mechanisms (340) and is used to level the bagged cement after transportation.

2. The robot automation equipment for high-speed cement loading according to claim 1 is characterized by: The scanner (110) comprises a support frame (111) and a laser scanner (112); the support frame (111) is a U-shaped structure, and the laser scanner (112) is fixedly installed on the inner side of the support frame (111), so that the scanner (110) performs laser scanning on different vehicle types passing through the support frame (111), so as to obtain information on different transport vehicle types.

3. The robot automation equipment for high-speed cement loading according to claim 1 is characterized by: The mobile unit (200) includes a support platform (210), a slide rail (220), a driving mechanism (230) and a plurality of protective plates (240), wherein the slide rail (220) is horizontally fixedly installed on the top of the support platform (210), and the mounting seat (310) on the flexible robot (300) is slidably connected to the slide rail (220), and the driving mechanism (230) is installed at the tail end of the slide rail (220) so that the driving mechanism (230) drives the rack on the slide rail (220) to rotate, so that the rack drives the mounting seat (310) to move along the length direction of the slide rail (220), and the top of the support platform (210) is also parallelly and correspondingly fixedly installed with a plurality of protective plates (240), so that the plurality of protective plates (240) can provide safety protection for the flexible robot (300).

4. The robot automation equipment for high-speed cement loading according to claim 3 is characterized by: The driving mechanism (230) comprises a first rotating driving member, which is fixedly connected to a driving rod meshingly connected to the rack, so that the first rotating driving member drives the annular rack to rotate.

5. The robot automation equipment for high-speed cement loading according to claim 1 is characterized by: The rotating mechanism (330) comprises a second rotating driving member (332) and the working plate (331), wherein the output end of the second rotating driving member (332) is fixedly connected to the working plate (331) so as to rotate a plurality of the clamping mechanisms (340) and a plurality of the leveling mechanisms (350) fixedly mounted on the bottom of the working plate (331), so as to adjust the transportation and placement orientation of the bagged cement.

6. The robot automation equipment for high-speed cement loading according to claim 1 is characterized by: The clamping mechanism (340) comprises a third rotating driving member (341), a connecting rod (342), a plurality of first bevel gears (343), a plurality of second bevel gears (344), a plurality of screw rods (345) and a plurality of clamping rods (346), wherein the plurality of clamping rods (346) are arranged in parallel and correspondingly screwed to each of the screw rods (345), and the tail end of each of the screw rods (345) is fixedly connected to each of the second bevel gears (344), and each of the second bevel gears (344) is screwed to the The corresponding first bevel gears (343) are meshed and connected, and a plurality of the first bevel gears (343) are fixedly installed on the connecting rod (342) in parallel and at intervals, and the connecting rod (342) is fixedly connected to the output end of the third rotating driving member (341), so that the third rotating driving member (341) drives the two clamping rods (346) correspondingly installed on each of the screw rods (345) to move relative to each other, so that the plurality of clamping rods (346) clamp and transport the bagged cement.

7. The robot automation equipment for high-speed cement loading according to claim 1 is characterized by: The leveling mechanism (350) comprises a telescopic driving member (351), a connecting plate (352), and a leveling roller (353); the leveling roller (353) is movably installed in the middle of the connecting plate (352), and the top of the connecting plate (352) is fixedly connected to the output end of the telescopic driving member (351), so that the telescopic driving member (351) drives the leveling roller (353) to move downward, so that the leveling roller (353) can sort the bagged cement after transportation.

8. The robot automation equipment for high-speed cement loading according to claim 7 is characterized by: The leveling mechanism (350) further comprises two positioning rods (354), which are vertically arranged in parallel and fixedly installed at intervals on the top of the connecting plate (352) for positioning and moving the leveling mechanism (350).

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