An automatic dosing system

Abstract

The utility model requests protect an automatic feeding system, it includes feeding robot, feeding device, tray, tray sets up in feeding robot any one side, is used for temporary storage material, feeding device sets up in feeding robot any one side, is used for conveying material, the below of feeding robot is provided with and feeding robot electric connection's 3D camera, 3D camera is used for identifying the position of material and the position of feeding device and transmission to feeding robot, and feeding machine is used for grabbing material to feeding device. Feeding device and tray are placed around the periphery of the feeding robot, and the specific position is adjusted according to the on-site situation. The automatic feeding system of the present application can replace manual feeding of materials, thereby saving manpower, in addition, it can also avoid the influence of materials harmful to human health on human health.

Description

Technical Field

[0001] This utility model relates to the field of automatic feeding technology, and more specifically, to an automatic feeding system. Background Technology

[0002] Sodium bisulfite is classified as a Class B hazardous material. It produces toxic gases upon contact with acids or acid fumes, and decomposes under high heat, releasing toxic gases as well. Currently, the preparation of sodium bisulfite aqueous solutions involves manual handling of the bags, manual bag breaking, and manual feeding. The dust and harmful gases generated during the preparation process pose potential health hazards to the operators. The amount of sodium bisulfite fed is measured in tons, resulting in a huge workload for workers. Therefore, how to replace manual handling of materials is the technical problem this application aims to solve. Utility Model Content

[0003] In view of the shortcomings of existing technologies, this utility model proposes an automatic feeding system that completely replaces workers in feeding materials, avoids occupational hazards for workers, and makes the feeding and batching process more precise and controllable.

[0004] The technical solution of this utility model is as follows: An automatic feeding system includes a feeding robot, a feeding device, and a tray, with the tray positioned on either side of the feeding robot for temporary storage of materials; The feeding device is located on either side of the feeding robot and is used to convey materials; A 3D camera is electrically connected to the feeding robot at its bottom. The 3D camera is used to identify the position of the material and the position of the feeding device and transmit the information to the feeding robot. The feeding robot is used to grab the material and place it at the feeding device.

[0005] In summary, the above technical solution has the following beneficial effects: The automatic feeding robot of this application is equipped with a pallet for temporary storage of materials and a feeding device for dispensing materials. Materials can be temporarily stored on the pallet using a forklift. When materials are needed, the feeding robot moves the materials from the pallet to the feeding device for dispensing. A 3D camera can identify the position of the materials and the position of the feeding device, allowing the feeding robot to accurately grasp and dispense materials. The feeding device and pallet are placed around the feeding robot, with the specific positions adjusted according to the site conditions. The automatic feeding system of this application can replace manual material dispensing, thus saving manpower. Furthermore, it can avoid the impact of harmful materials on human health. Attached Figure Description

[0006] Figure 1 A schematic diagram of a feeding robot for an automated feeding system; Figure 2 A schematic diagram of a 3D camera for an automatic feeding system; Figure 3 A schematic diagram of a guiding device for an automatic feeding system; Figure 4 A schematic diagram of a feeding device for an automatic feeding system; Figure 5 This is a schematic diagram of a bag-breaking component in an automatic feeding system. Figure 6 This is a schematic diagram of an elevated platform for an automatic feeding system.

[0007] Reference numerals: 10, Feeding robot; 11, Suction cup; 20, Feeding device; 21, Funnel shell; 211, Inlet; 212, Outlet; 22, Bag-breaking component; 221, Connecting rod; 222, Clamping blade; 223, Sharp blade; 30, Pallet; 31, Material; 40, 3D camera; 41, Electrical control box; 50, Guiding device; 51, Base plate; 52, Guiding plate; 60, Elevating platform; 61, Ladder; 62, Fence; 63, Door; 64, Discharge port. Detailed Implementation

[0008] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Identical components are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom surface," "top surface," "inner," and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0009] like Figure 1 and Figure 2As shown, an automatic feeding system includes a feeding robot 10, a feeding device 20, and a tray 30. The tray 30 is disposed on either side of the feeding robot 10 for temporarily storing material 31. The feeding device 20 is disposed on either side of the feeding robot 10 for conveying material 31. A 3D camera 40 is disposed below the feeding robot 10 and electrically connected to the feeding robot 10. The 3D camera 40 is used to identify the position of material 31 and the position of feeding device 20 and transmit the information to the feeding robot 10. The feeding robot is used to grab material 31 and place it at the feeding device 20. The automatic feeding robot 10 of this application is equipped with a pallet 30 for temporarily storing materials 31 and a feeding device 20 for dispensing materials. A forklift can temporarily store the materials 31 on the pallet 30. When materials 31 are needed, the feeding robot 10 moves the materials 31 from the pallet 30 to the feeding device 20 for dispensing. A 3D camera 40 can identify the position of the materials 31 and the position of the feeding device 20, allowing the feeding robot 10 to accurately grasp and dispense the materials 31. The feeding device 20 and the pallet 30 are placed around the feeding robot 10, with the specific positions adjusted according to the site conditions. This automatic feeding system can replace manual material dispensing, thus saving manpower. Furthermore, it can prevent harmful materials 31 from affecting human health.

[0010] Specifically, it also includes an electrical control box 41. The 3D camera 40 is electrically connected to the feeding robot 10 through the electrical control box 41. The electrical control box 41 calculates the movement parameters of the feeding robot 10 based on the position identified by the 3D camera 40, thereby controlling the feeding robot 10 to move precisely to grasp and deliver the material 31. The electrical control box 41 includes necessary accessories such as a controller and a power operation panel. The steps for the 3D camera 40 to cooperate with the robot to grasp the material are as follows: the electrical control box 41 sends a photo-taking command to the 3D camera 40, controlling the 3D camera 40 to move to a specific position to take a photo and obtain the current point cloud data. The electrical control box 41 calculates the most suitable coordinate values ​​for the robot to grasp the material, including three-dimensional coordinate values ​​(X, Y, Z) and angle rotation values ​​(Rx, Ry, Rz). Then, the electrical control box 41 sends a command to guide the feeding robot 10 to move to the coordinate position to perform the grasping or delivery action of the material 31. The specific control method is based on existing technology, such as the binocular vision 6-axis robot guidance system disclosed in CN 109108975 A, which discloses the relevant structure and control method of the binocular vision 6-axis robot guidance system.

[0011] like Figure 3As shown, a guiding device 50 is provided below the pallet 30. The guiding device 50 includes a base plate 51 and two guiding plates 52. The base plate 51 is located below the pallet 30 for placing the pallet 30. The two guiding plates 52 are located on both sides of the base plate 51. The lower ends of the two guiding plates 52 are connected to the outer edge of the base plate 51, and the upper ends are inclined away from the base plate 51. The guiding device 50 is placed in a pre-set area that is easy for the feeding robot 10 to grasp. The forklift can transport the pallet 30 and the material 31 on the pallet 30 to the base plate 51 so that the feeding robot 10 can grasp the material. Since the pallet 30 is transported by the forklift manually, the guiding plates 52 on both sides of the base plate 51 can increase the size of the opening above the base plate 51 and guide the forklift to place the pallet 30 on the base plate 51. Even if the forklift does not place the pallet 30 accurately, the pallet 30 will slide into the base plate 51 along the guiding plates 52.

[0012] like Figure 4 As shown, the feeding device 20 includes a funnel shell 21. The funnel shell 21 has an inlet 211 at the top and an outlet 212 at the bottom. A bag-breaking component 22 is installed inside the funnel shell 21. The lower end of the bag-breaking component 22 is connected to the inner wall of the funnel shell 21, and its upper part faces the inlet 211 and is pointed, used to puncture the bag of material 31. The inlet 211 at the top of the funnel shell 21 is larger than the size of the bag of material 31, allowing the entire bag of material 31 to be placed inside the funnel shell 21. After the bag of material 31 is placed inside the funnel shell 21, it will encounter the bag-breaking component 22. Due to gravity, the bag of material 31 will be punctured by the bag-breaking component 22, and the material 31 will fall out of the funnel shell 21 through the outlet 212.

[0013] like Figure 5 As shown, the bag-breaking component 22 is connected to the inner wall of the funnel shell 21 via a connecting rod 221. The bag-breaking component 22 is cone-shaped, with the pointed tip facing the upper inlet 211. Specifically, the bag-breaking component 22 is connected to the inner wall of the funnel shell 21 via the connecting rod 221, increasing the space for the material 31 to fall into the outlet 212. The bag-breaking component 22 is cone-shaped, and can be a triangular pyramid, a square pyramid, or other multi-faceted pyramid, with the pointed tip facing the inlet 211. In this embodiment, the bag of material 31 is directly punctured by the bag-breaking component 22. The tip of the bag-breaking component 22 has a clamping opening 222, and a detachable sharp blade 223 is installed inside the clamping opening 222, with the blade tip of the sharp blade 223 facing upward toward the feed inlet 211. If the tip of the bag-breaking component 22 is used to break bags for a long time, the tip may become dull, making it troublesome to replace the bag-breaking component 22. By setting a detachable sharp blade 223 on the bag-breaking component 22, the sharp blade 223 can be replaced when it becomes dull.

[0014] Multiple feeding devices 20 are provided, and all feeding devices 20 are arranged around the feeding robot 10. Multiple feeding devices 20 can be provided; preferably, two feeding devices 20 are provided, both located next to the feeding robot 10. The specific positions can be adjusted according to actual conditions. The arrangement of multiple feeding devices 20 allows the feeding robot 10 to alternately deliver the material 31 bags to different feeding devices 20, thereby improving work efficiency.

[0015] The gripping end of the feeding robot 10 is set as a suction cup 11.

[0016] The feeding robot 10 has a robotic arm at its gripping end. Specifically, the feeding robot 10 is a commonly used industrial 6-axis robot. Guided by the 3D camera 40, the feeding robot 10 uses a vacuum suction cup 11 to pick up the material bag 31 and stop it above the bag-breaking component 22. The bag-breaking component 22 then breaks the material bag 31. The material 31 inside the material bag falls into the funnel shell 21 under gravity and continues to fall downwards from the outlet 212 of the funnel shell 21 into the mixing container. Of course, the gripping end of the feeding robot 10 can also be equipped with a robotic arm to grip the material 31; the robotic arm is not shown in the attached figure.

[0017] The 3D camera 40 and the feeding robot 10 are rotatably connected. The 3D camera 40 can rotate independently without interfering with the movement of the feeding robot 10. The rotatable connection of the 3D camera 40 allows one 3D camera 40 to identify multiple locations. When it is necessary to grasp material 31, the 3D camera 40 is controlled to rotate towards the tray 30 and identify the position of the material 31. After the 3D camera 40 transmits the position of the material 31 to the feeding robot 10, the feeding robot 10 grasps the material 31. When it is necessary to dispose of material 31, the 3D camera 40 is controlled to rotate towards the feeding device 20 and identify the position of the feeding device 20. After the 3D camera 40 transmits the position of the feeding device 20 to the feeding robot 10, the feeding robot 10 disposes the grasped material 31 onto the feeding device 20, thus completing the material 31 transfer.

[0018] like Figure 6As shown, the system also includes a raised platform 60, on which the robot, feeding device 20, and tray 30 are all mounted. A ladder 61 is located on one side of the raised platform 60 for personnel to climb onto it. A fence 62 is installed on the raised platform 60, with a door 63 at the level of the ladder. A discharge port 64 is provided at the tray 30 on the fence 62. The discharge port 212 of the feeding device 20 extends through the raised platform 60 and below it. The raised platform 60 elevates the entire automatic feeding system, facilitating installation even in situations where existing equipment on the ground is congested. The ladder 61 facilitates access for maintenance personnel. The fence 62 is equipped with a safety door 63 lock to isolate the feeding robot 10 and protect personnel from injury. A mixing container is located below the raised platform 60 to connect to the discharge port 212 of the feeding device 20.

[0019] The automatic feeding system of this application has the following advantages: 1. The camera mounting bracket has a lateral movement mechanism, and one 3D camera 40 can serve as both feeding mechanisms. 2. The use of the pallet 30 guide device 50 reduces the positional accuracy requirements for forklift placement of the pallet 30, facilitating rapid loading. 3. As a complete automatic destacking and feeding system, it adopts a two-tier platform construction method, effectively utilizing the height space of the factory.

[0020] The above are merely preferred embodiments of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are within its protection scope. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within its protection scope.

Claims

1. An automatic feeding system, characterized in that, It includes a feeding robot (10), a feeding device (20), and a tray (30). The tray (30) is set on any side of the feeding robot (10) and is used to temporarily store materials (31). The feeding device (20) is set on any side of the feeding robot (10) and is used to convey materials (31); Below the feeding robot (10) is a 3D camera (40) electrically connected to the feeding robot (10). The 3D camera (40) is used to identify the position of the material (31) and the position of the feeding device (20) and transmit the information to the feeding robot (10). The feeding robot is used to grab the material (31) and place it at the feeding device (20).

2. The automatic feeding system according to claim 1, characterized in that, A guide device (50) is provided below the tray (30). The guide device (50) includes a base plate (51) and two guide plates (52). The base plate (51) is located below the tray (30) and is used for placing the tray (30). The two guide plates (52) are arranged on both sides of the base plate (51). The lower ends of the two guide plates (52) are connected to the outer edge of the guide plate (52), and the upper ends are inclined away from the base plate (51).

3. The automatic feeding system according to claim 1, characterized in that, The feeding device (20) includes a funnel shell (21), with an inlet (211) at the top and an outlet (212) at the bottom. A bag-breaking component (22) is provided inside the funnel shell (21). The lower end of the bag-breaking component (22) is connected to the inner wall of the funnel shell (21), and the upper part faces the inlet (211) and is pointed, used to puncture the bag of material (31).

4. The automatic feeding system according to claim 3, characterized in that, The bag-breaking component (22) is connected to the inner wall of the funnel shell (21) via a connecting rod (221). The bag-breaking component (22) is cone-shaped with the pointed end of the cone facing the upper feed inlet (211).

5. An automatic feeding system according to claim 4, characterized in that, The tip of the bag-breaking component (22) is provided with a clamping blade (222), and a sharp blade (223) is detachably installed inside the clamping blade (222), with the blade head of the sharp blade (223) facing upward toward the feed inlet (211).

6. The automatic feeding system according to claim 1, characterized in that, Multiple feeding devices (20) are provided, and all of the feeding devices (20) are arranged around the feeding robot (10).

7. An automatic feeding system according to claim 1, characterized in that, The gripping end of the feeding robot (10) is configured as a suction cup (11).

8. An automatic feeding system according to claim 1, characterized in that, The feeding robot (10) is equipped with a robotic arm as its gripping end.

9. An automatic feeding system according to claim 1, characterized in that, The 3D camera (40) and the feeding robot (10) are rotatably connected.

10. An automatic feeding system according to any one of claims 1-9, characterized in that, It also includes a raised platform (60), on which the robot, feeding device (20) and pallet (30) are all set. A ladder (61) is provided on one side of the raised platform (60) for people to climb onto the raised platform (60). A fence (62) is provided on the raised platform (60). A door (63) is provided at the level ladder of the fence (62). A material discharge port (64) is opened at the pallet (30) of the fence (62). The discharge port (212) of the feeding device (20) extends through the raised platform (60) and below the raised platform (60).

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