An automatic device for automatic loading, carrying and stacking in chemical and chemical industry

Abstract

The utility model discloses an automatic loading, carrying, stacking automatic device of chemical industry, including host system, power assisted pneumatic mechanical arm, transmission storage device, stacking mechanism and intelligent monitoring system. The host system coordinates and controls each equipment operation, hoisting type power assisted pneumatic mechanical arm is equipped with pneumatic cylinder and electromagnetic gripper to snatch the carrying material, and transmission storage device contains conveying belt and storage box to complete material conveying and collection, and stacking mechanism is composed of platform and mechanical arm, and intelligent monitoring system integrates 2D camera and carries out the positioning with 3D camera and realizes space modeling with the application structure light technique. The utility model discloses through the integration automatic control and intelligent vision technology, has realized the full process automation of material from snatch, carrying, storage to stacking, has reduced the labor intensity significantly, has eliminated the risk of high altitude operation, and has relied on the self -adaptation learning ability and has improved the processing precision and efficiency to different specifications material, has improved the automation level and security of chemical production link.

Description

Technical Field

[0001] This utility model relates to the field of chemical and chemical automation equipment technology, specifically to an automated device for automatic loading, handling, and palletizing in the chemical and chemical industry. Background Technology

[0002] In modern production processes within the chemical industry, the post-processing of materials, such as loading, handling, and stacking waste liquid drums, still largely relies on manual labor. This traditional model not only results in high labor intensity but also severely restricts the improvement of overall production efficiency. Especially when handling heavy materials, multiple workers are required to work together, leading to a continuous increase in labor costs and posing significant safety hazards in high-altitude or repetitive handling operations, thus threatening safe production.

[0003] To address these challenges, some automated material handling equipment has emerged in the market, but their level of automation is often limited. For example, some automated loaders still require manual pre-stacking of goods on the platform during the loading process, failing to achieve full automation from picking to palletizing. Furthermore, in special scenarios such as the packaging and transportation of chemical liquids, the applicability of existing auxiliary devices is narrow, and their actual effects on improving efficiency and reducing labor intensity are not ideal, making it difficult to meet diverse and complex production needs.

[0004] Existing automated systems, such as palletizing control systems using six-axis robotic arms, while achieving breakthroughs in basic automation, still have significant shortcomings in terms of intelligence. They typically lack the ability to adapt to material specifications and cannot intelligently adjust palletizing strategies based on parameters such as material shape and size. Furthermore, system stability and compatibility with different materials need improvement, making it difficult to guarantee long-term reliable operation in the unique environments of the chemical industry. Therefore, there is a need to develop a fully automated device that integrates intelligence, high adaptability, and high reliability. Utility Model Content

[0005] In view of the above-mentioned technical problems in related technologies, this utility model proposes an automated device for automatic loading, handling and palletizing in the chemical industry, which can overcome the above-mentioned shortcomings of the prior art.

[0006] To achieve the above-mentioned technical objectives, the technical solution of this utility model is implemented as follows: An automated device for automatic loading, handling, and palletizing in the chemical industry; This automated loading, handling, and palletizing device for the chemical industry includes a host system, a assisted pneumatic robotic arm, a conveying and storage device, a palletizing mechanism, and an intelligent monitoring system. The host system coordinates and controls the operation of each individual device and receives feedback information. The assisted pneumatic robotic arm adopts a hoisting structure and is equipped with pneumatic cylinders and electromagnetic grippers for grasping and handling materials. The conveying and storage device includes a conveyor belt and a storage box for storing materials. The palletizing mechanism includes a palletizing platform and a palletizing robotic arm. The intelligent monitoring system includes a 2D camera for locating and detecting the material picking position and a 3D camera for spatial modeling using structured light technology.

[0007] Furthermore, the assisted pneumatic robotic arm includes a fixed base, a support rod, and several crossbars rotatably connected by a rotating device. The ends of the crossbars grip and lift waste liquid tanks via slings and electromagnetic grippers.

[0008] Furthermore, the support rod and crossbar of the assisted pneumatic robotic arm are made of aluminum alloy, and the electromagnetic gripper is made of permanent magnet material.

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

[0010] Furthermore, the storage box has multiple internal compartments and is equipped with an electromagnetic door.

[0011] Furthermore, the palletizing robotic arm has a six-axis structure and is equipped with electromagnetic sensors.

[0012] Furthermore, the palletizing robotic arm is also equipped with an adaptive learning module, which can automatically adjust the palletizing parameters according to materials of different specifications and shapes.

[0013] Furthermore, the surface of the palletizing platform is provided with anti-slip rubber pads.

[0014] Furthermore, the intelligent monitoring system also includes an optical character recognition module for identifying identification codes on materials.

[0015] Furthermore, the host system is managed by an industrial controller and supports remote control and automated operation modes.

[0016] The beneficial effects of this utility model are as follows: By integrating a hoisting-type assisted pneumatic robotic arm, a conveying and storage device, a palletizing mechanism, and an intelligent monitoring system, all coordinated and controlled by a higher-level system, the entire process of grabbing, handling, storing, and palletizing waste liquid drums is automated, effectively reducing the labor intensity of personnel and eliminating the safety hazards of working at heights. Furthermore, through the visual positioning and spatial modeling technology of the intelligent monitoring system, combined with the adaptive learning capability of the palletizing mechanism, the accuracy and reliability of palletizing are improved, adapting to the intelligent processing needs of waste liquid drums of different specifications, and ultimately significantly improving the production efficiency and safety level of related processes in the chemical industry. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the deployed state structure of an automated loading, handling, and palletizing device for the chemical industry according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the retracted state structure of the assisted pneumatic robotic arm of an automated device for automatic loading, handling, and palletizing in the chemical industry, according to an embodiment of this utility model. Figure 3 This is a structural schematic diagram of the conveying and storage device and the palletizing mechanism of an automated device for automatic loading, handling and palletizing in the chemical industry according to an embodiment of this utility model; In the diagram: 1. Powered pneumatic robotic arm; 2. Electromagnetic sensor; 3. Support rod; 4. Pneumatic cylinder; 5. Electromagnetic gripper; 6. Fixed base; 7. Waste liquid tank; 8. Rotating device; 9. Cross frame; 10. Sling; 11. Conveying and storage device; 12. Conveyor belt; 13. Palletizing mechanism; 14. Palletizing platform; 15. Palletizing robotic arm. Detailed Implementation

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

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

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

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

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

[0024] According to an embodiment of the present invention, an automated device for automatic loading, handling, and palletizing in the chemical industry is provided with a rubber pad on the surface of the conveyor belt 12 of the conveying and receiving device 11.

[0025] According to an embodiment of the present invention, an automated device for automatic loading, handling, and palletizing in the chemical industry is provided. In a specific embodiment, the storage box has multiple partitions and is equipped with an electromagnetic door.

[0026] According to an embodiment of the present invention, an automated device for automatic loading, handling, and palletizing in the chemical industry is provided. In a specific embodiment, the palletizing robotic arm 15 has a six-axis structure and is equipped with an electromagnetic sensor 2.

[0027] According to an embodiment of the present invention, an automated device for automatic loading, handling, and palletizing in the chemical industry is provided. In a specific embodiment, the palletizing robotic arm 15 is further provided with an adaptive learning module, which can automatically adjust the palletizing parameters according to materials of different specifications and shapes.

[0028] According to an embodiment of the present invention, an automated device for automatic loading, handling, and palletizing in the chemical industry is provided, in a specific embodiment, the surface of the palletizing platform 14 is provided with an anti-slip rubber pad.

[0029] According to an embodiment of the present invention, an automated device for automatic loading, handling, and palletizing in the chemical industry is provided. In a specific embodiment, the intelligent monitoring system further includes an optical character recognition module for identifying identification codes on materials.

[0030] According to an embodiment of the present invention, an automated device for automatic loading, handling, and palletizing in the chemical industry is provided. In a specific embodiment, the host system is managed by an industrial controller and supports remote control and automated operation modes.

[0031] To facilitate understanding of the above technical solutions of this utility model, the following detailed description of the above technical solutions of this utility model is provided through specific usage methods.

[0032] In practical use, the automated loading, handling, and palletizing device for the chemical industry according to this utility model includes a host system, a power-assisted pneumatic robotic arm, a conveying and storage device, a palletizing mechanism, and an intelligent monitoring system.

[0033] The upper-level system is used to coordinate and control the operation of each individual device, issue operation commands, and receive feedback information; the assisted pneumatic robotic arm adopts a hoisting structure and is equipped with pneumatic cylinders and electromagnetic grippers for gripping and transporting materials; the conveying and storage device includes a conveyor belt and a storage box. The conveyor belt is used to transport materials to the storage box, and the storage box can store materials at fixed points and in fixed quantities according to the project scale.

[0034] The palletizing mechanism includes a palletizing platform and a palletizing robotic arm. The palletizing platform is used to temporarily store materials, and the palletizing robotic arm adopts a six-axis structure and is equipped with electromagnetic sensors. The electromagnetic sensors monitor the position of the palletizing platform in real time to prevent deviation during the palletizing process. The palletizing robotic arm also has an adaptive learning module, which can automatically adjust the palletizing parameters according to materials of different specifications and shapes.

[0035] The intelligent monitoring system includes 2D and 3D cameras. The 2D camera is used to locate and detect the position of materials being picked up, while the 3D camera uses structured light technology for spatial modeling and real-time monitoring of the palletizing status. The intelligent monitoring system also includes an optical character recognition module to identify the identification codes on the materials, enabling intelligent sorting and recording.

[0036] The host system achieves intelligent management through an industrial controller, supporting remote control and automated operation modes, which can be flexibly switched according to project needs. The entire device adopts a modular design, facilitating maintenance and upgrades.

[0037] The following three more specific embodiments further illustrate this technical solution: Example 1: This invention provides an automated device for automatic loading, handling, and palletizing in the chemical industry. The device includes a host system, a power-assisted pneumatic robotic arm, a conveying and storage device, a palletizing mechanism, and an intelligent monitoring system.

[0038] The host system employs an industrial controller for intelligent management, connecting to each individual device via an RS485 bus and supporting remote control and automated operation modes. The host system includes a control panel with a touchscreen display and multiple operation buttons for inputting operation commands and monitoring the real-time operating status of each device.

[0039] The assisted pneumatic robotic arm adopts a hoisting structure, including a fixed base, support rods, and several crossbeams rotatably connected by a rotating device. The ends of the crossbeams grip and lift waste liquid containers or other materials via slings and electromagnetic grippers. A pneumatic cylinder provides power. The electromagnetic grippers are made of permanent magnets, providing excellent gripping performance. The support rods and crossbeams are made of aluminum alloy, offering high strength and rigidity.

[0040] The conveying and storage device includes a conveyor belt and storage boxes. The conveyor belt is made of nylon with rubber pads on the surface to enhance friction. The storage boxes are made of steel and have multiple internal compartments, allowing for targeted and quantitative storage based on project scale. The storage boxes have electromagnetic doors at their entrances and exits for automatic opening and closing.

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

[0042] The intelligent monitoring system includes 2D and 3D cameras. The 2D camera, composed of an industrial lens and CMOS sensor, is used for positioning and detecting the material handling location, and has a resolution of 640×480. The 3D camera, using structured light technology for spatial modeling, is an Azure Kinect DK model capable of creating high-precision point cloud models. The intelligent monitoring system also includes an optical character recognition module for identifying identification codes on materials, enabling intelligent sorting and recording.

[0043] Each individual unit adopts a modular design, facilitating maintenance and upgrades. The control system of the entire unit uses standardized industrial protocols, enabling seamless integration with other equipment.

[0044] Example 2: The workflow of the automated device provided by this invention is as follows: First, the host system receives operation commands through the control panel and determines whether to enter automated operation mode. If so, it sends start signals to the assisted pneumatic robotic arm, conveying and storage device, palletizing mechanism, and intelligent monitoring system; otherwise, it enters manual operation mode.

[0045] In automated operation mode, the assisted pneumatic robotic arm, driven by a pneumatic cylinder, moves the electromagnetic gripper above the material (such as a waste liquid container). A 2D camera in the intelligent monitoring system captures images of the material, and image processing algorithms calculate the optimal gripping position and posture. The electromagnetic gripper closes, grasps the material, and the robotic arm moves the material onto the conveyor belt of the conveyor and storage device.

[0046] The conveyor belt of the storage device is driven by a motor, transporting materials to the designated position in the storage box. The electromagnetic door of the storage box opens automatically, and the materials fall into the box. The compartments of the storage box automatically position the materials according to preset specifications, achieving fixed-point and fixed-quantity storage. When a layer is full, the compartment automatically rises and falls to begin storing a new layer.

[0047] Meanwhile, the intelligent monitoring system's 3D camera scans the palletizing area in real time, constructing a point cloud model using structured light technology to determine the idle status of the palletizing platform. When there is available space, the host system sends a command to the palletizing mechanism, and the palletizing robotic arm automatically moves to the palletizing position to complete the palletizing operation.

[0048] Throughout the process, the host system monitors the operating status of each device in real time through the industrial controller, ensuring coordinated operation of all components. When an anomaly occurs, the system automatically triggers an alarm and records the anomaly log.

[0049] Example 3: The main parameters of the automation device provided by this invention are as follows: Powered pneumatic robotic arm: Robotic arm dimensions: 2000mm × 1000mm × 500mm; Pneumatic cylinder model: FESTO DSNU-32-100-PPV-A; Electromagnetic gripper model: NEO-Magnet 250; Support rod material: aluminum alloy; Controller model: Siemens S7-200 SMART.

[0050] Conveying and storage device: Conveyor belt model: RGU-1200 / 60 / 3; Storage box dimensions: 2000mm × 1000mm × 1000mm; Storage box compartment spacing: 50mm; Electromagnetic door model: SMC-50.

[0051] Palletizing mechanism: Palletizing platform dimensions: 2000mm × 1000mm × 500mm; Palletizing robotic arm dimensions: 1500mm × 800mm × 600mm; Electromagnetic sensor model: TKS-20; Adaptive learning module: Machine vision algorithms based on deep learning.

[0052] Intelligent monitoring system: 2D camera model: Hikvision DS2CD6986F-H (resolution 640×480); 3D camera model: Azure Kinect DK; Optical Character Recognition Module: Intelligent recognition algorithm based on OCR.

[0053] Upper-level system: Industrial controller model: Siemens S7-1200 PLC; Control panel dimensions: 400mm × 300mm × 50mm; RS485 bus speed: 115.2kbps.

[0054] The above parameters are only a preferred embodiment of the present invention. Without departing from the principle and spirit of the present invention, the functions of each individual device can be replaced or the parameters adjusted.

[0055] In summary, by utilizing the technical solution of this utility model, and integrating a hoisting-type assisted pneumatic robotic arm, a conveying and storage device, a palletizing mechanism, and an intelligent monitoring system under the coordinated control of a higher-level system, the entire process of grasping, handling, storing, and palletizing waste liquid drums is automated. This effectively reduces the labor intensity of personnel and eliminates the safety hazards of working at heights. Furthermore, through the visual positioning and spatial modeling technology of the intelligent monitoring system, combined with the adaptive learning capability of the palletizing mechanism, the accuracy and reliability of palletizing are improved, adapting to the intelligent processing needs of waste liquid drums of different specifications, and ultimately significantly improving the production efficiency and safety level of related processes in the chemical industry.

[0056] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

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

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

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

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

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

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

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

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

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

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

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