Three-dimensional righting mechanical hand for aligning a feed opening and a tank opening

Abstract

The utility model discloses a three -dimensional righting mechanical hand for the alignment of blanking mouth and jar mouth, including mounting bracket and connecting mechanism, mounting bracket: its inside front side middle is equipped with movable righting frame, and the inside middle sliding joint of righting frame has the blanking pipe, and the upper end between the top wall front side of mounting bracket and blanking pipe is equipped with the telescopic pipe, and connecting mechanism: it includes the connecting head, pivot, eccentric cam, guide pulley and spading claw, this three -dimensional righting mechanical hand for the alignment of blanking mouth and jar mouth, through the spading of the pivot of ceaseless rotation and spading claw, can avoid the bulk material accumulation in telescopic pipe place, and cooperate the extrusion of eccentric cam and the location of limiting component, can make telescopic pipe still have a up and down displacement state in the unloading process, and the exciting force of displacement can further avoid the bulk material accumulation in telescopic pipe place, the maximum degree avoided the material accumulation jam situation's occurrence, improved the canning efficiency of bulk material.

Description

Technical Field

[0001] This utility model relates to the field of bulk material loading and unloading technology, specifically a three-dimensional straightening robot for aligning the discharge port with the tank opening. Background Technology

[0002] Bulk material loading and unloading technology mainly involves the transfer and handling of unpackaged bulk goods such as coal powder, mineral powder, and chemical powder. To save packaging costs, it is usually necessary to use powder tank trucks to transport bulk materials. Currently, bulk materials are mostly transported into the powder tank truck through telescopic tubes that can automatically adjust their position. The telescopic tube is set at the lower end of the discharge port and moves along the x, y, and z axes through a three-axis motion module. Combined with the detection of vision cameras and laser sensors and the calculation of AI algorithms, a three-dimensional automatic straightening robot is formed to achieve rapid alignment between the telescopic tube and the powder tank truck, and thus rapid alignment between the discharge port and the tank opening, providing a foundation for the filling of bulk materials. When traditional three-dimensional automatic straightening robots work, they only have the function of rapid alignment and lack effective material unloading function. When a large amount of bulk material falls rapidly through the telescopic tube, it is easy to accumulate and block at the telescopic tube, affecting the filling efficiency of bulk materials. Therefore, we propose a three-dimensional straightening robot for aligning the discharge port and the tank opening. Utility Model Content

[0003] The technical problem this invention aims to solve is to overcome existing defects and provide a three-dimensional straightening robot for aligning the discharge port with the can opening. Through the continuous rotation of the shaft and the material-grabbing claws, bulk materials can be prevented from accumulating at the telescopic tube. Combined with the squeezing of the eccentric cam and the limiting component, the telescopic tube undergoes a vertical displacement during the discharge process. The vibration force generated by this displacement further prevents bulk materials from accumulating at the telescopic tube, minimizing material buildup and blockage, and improving the filling efficiency of bulk materials. This effectively solves the problems in the background technology.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a three-dimensional alignment robot for aligning the discharge port with the tank opening, including a mounting frame and a connecting mechanism;

[0005] Mounting frame: It has a movable straightening frame in the middle of the front side inside, and a feeding pipe is slidably connected in the middle of the inside of the straightening frame. A telescopic pipe is provided between the front side of the top wall of the mounting frame and the upper end of the feeding pipe.

[0006] The connecting mechanism includes a connector, a rotating shaft, an eccentric cam, guide wheels, and material-ejecting claws. The connector is slidably connected to the lower end of the feed tube, and the rotating shaft is rotatably connected to the middle of the connector. The eccentric cams are respectively located on the left and right sides of the outer surface of the rotating shaft, and the guide wheels are respectively rotatably connected to the left and right sides of the lower end of the outer surface of the feed tube. The outer surfaces of the eccentric cams are all fitted with the outer surfaces of the vertically adjacent guide wheels. The material-ejecting claws are all located in the middle of the outer surface of the rotating shaft, providing material ejection and vibration effects for the feeding of bulk materials. The material ejection effect of the continuously rotating shaft and the material-ejecting claws can prevent bulk materials from accumulating at the telescopic tube. With the squeezing of the eccentric cam and the limiting component, the telescopic tube can also have a vertical displacement during the feeding process. The excitation force generated by the displacement can further prevent bulk materials from accumulating at the telescopic tube, minimizing the occurrence of material accumulation and blockage, and improving the filling efficiency of bulk materials.

[0007] Furthermore, the connecting mechanism also includes a limiting component, which includes a connecting block, a sliding column, a tension spring, and a limiting block. The connecting blocks are respectively located at the four lower corners of the outer surface of the feed tube, and the sliding columns are respectively located at the four corners of the upper edge of the connecting head. The outer surface of each sliding column is slidably connected to the inner middle of the vertically adjacent connecting block. A tension spring is provided between the upper end of the connecting head and the lower end of the connecting block, and the tension spring is sleeved on the outer surface of the sliding column. The limiting blocks are respectively located at the middle of the left and right sides of the outer surface of the feed tube. Sliding grooves are provided on the left and right sides of the front end of the straightening frame. The outer surface of each limiting block is slidably connected to the inner wall of the vertically adjacent sliding groove, providing an elastic limiting effect for the up and down movement of the feed tube, allowing the feed tube to fall more quickly.

[0008] Furthermore, the limiting component also includes an electromagnet, which is disposed at the lower end of the connector. The input end of the electromagnet is electrically connected to the output end of the microcontroller, and can be connected to the tank opening of the powder tanker by the magnetic attraction of the electromagnet.

[0009] Furthermore, the connecting mechanism also includes a motor, which is mounted on the left edge of the upper end of the connector via an angle iron. The input end of the motor is electrically connected to the output end of the microcontroller, and the right end of the motor's output shaft is fixedly connected to the left end of the rotating shaft, providing a driving effect for material handling and vibration operation.

[0010] Furthermore, the connecting mechanism also includes a vision camera, which is mounted on the front edge of the upper end of the connector via an angle iron. The vision camera is bidirectionally electrically connected to the microcontroller to provide monitoring for the alignment of the discharge port and the can opening.

[0011] Furthermore, it also includes a lifting frame, a two-axis module, and a linear module. The lifting frame is slidably connected to the middle of the rear side wall of the mounting frame. The two-axis module is located at the upper end of the lifting frame. The lower rear side of the straightening frame is fixedly connected to the upper end of the two-axis module. The linear modules are respectively located on the left and right sides of the rear side wall of the mounting frame. The front end of each linear module is fixedly connected to the rear end of the lifting frame. The input ends of the two-axis module and the linear module are electrically connected to the output end of the microcontroller to provide a driving effect for the alignment of the discharge port and the tank opening.

[0012] Furthermore, it also includes a microcontroller, which is placed on the right side of the mounting bracket. The input terminal of the microcontroller is electrically connected to an external power supply to provide control for the filling of bulk materials.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: This three-dimensional alignment robot for aligning the discharge port and the can opening has the following advantages:

[0014] The rotating shaft drives the material-grabbing claws to rotate, thereby creating a material-grabbing effect on the bulk materials, loosening them and initially preventing them from accumulating and clogging. The eccentric cam's squeezing guide wheel can cause the feeding pipe to move up and down. Combined with the limiting of the sliding column and the limit block, as well as the contraction of the tension spring, a certain excitation force can be generated. In addition, the contraction and expansion of the telescopic tube further loosens the bulk materials, which can further prevent the bulk materials from accumulating and clogging, thus improving the filling efficiency of bulk materials. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 This is a cross-sectional structural diagram of the connection mechanism of this utility model;

[0017] Figure 3 This is a schematic diagram of the connection mechanism of this utility model.

[0018] In the diagram: 1. Mounting frame, 2. Straightening frame, 3. Feeding pipe, 4. Telescopic pipe, 5. Connecting mechanism, 51. Connector, 52. Rotating shaft, 53. Eccentric cam, 54. Guide wheel, 55. Limiting component, 551. Connecting block, 552. Sliding column, 553. Tension spring, 554. Limiting block, 555. Electromagnet, 56. Material grabber, 57. Motor, 58. Vision camera, 6. Lifting frame, 7. Two-axis module, 8. Linear module, 9. Microcontroller. 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0020] Please see Figure 1-3 This embodiment provides a technical solution: a three-dimensional straightening robot for aligning the discharge port with the tank opening, including a mounting frame 1 and a connecting mechanism 5;

[0021] Mounting frame 1: A movable straightening frame 2 is located in the middle of its front side. A feed flange is located on the upper front side of mounting frame 1 for connecting to the discharge port of an external feeding device. A discharge pipe 3 is slidably connected in the middle of the straightening frame 2. A telescopic pipe 4 is located between the front side of the top wall of mounting frame 1 and the upper end of the discharge pipe 3. This is a common material conveying pipe in the prior art, corrugated in shape, with telescopic and expansion characteristics. It also includes a lifting frame 6, a two-axis module 7, and a linear module 8. The lifting frame 6 is slidably connected to the middle of the rear side wall of mounting frame 1. The two-axis module... 7 is located at the upper end of the lifting frame 6, and the lower rear side of the straightening frame 2 is fixedly connected to the upper end of the two-axis module 7. The two-axis module 7 is composed of a transverse movement module and a longitudinal movement module in the prior art. The transverse movement module includes a transverse slide rail, a transverse slide block slidably connected on the transverse slide rail, a transverse motor mounted on the side of the transverse slide rail, and a transverse lead screw fixedly connected to the output shaft of the transverse motor, with the transverse lead screw threadedly connected to the transverse slide block. The longitudinal movement module includes a longitudinal slide rail fixedly connected to the upper end of the transverse slide block, a longitudinal slide block slidably connected on the longitudinal slide rail, and a longitudinal... A longitudinal motor is mounted on the side of the slide rail, and a longitudinal lead screw is fixedly connected to the output shaft of the longitudinal motor. The longitudinal lead screw is threadedly connected to the longitudinal slide block. The upper end of the longitudinal slide block of the longitudinal movement module is fixedly connected to the lower end of the straightening frame 2. Linear modules 8 are respectively set on the left and right sides of the rear side wall of the mounting frame 1. The front end of each linear module 8 is fixedly connected to the rear end of the lifting frame 6. The input ends of the two-axis module 7 and the linear module 8 are electrically connected to the output end of the microcontroller 9. The linear module 8 consists of a linear slide rail, a linear slide block slidably connected on the linear slide rail, and the side of the linear slide rail. The installed drive motor and the output shaft of the drive motor are fixedly connected to the lead screw, and the lead screw is threadedly connected to the linear slide. The front end of the linear slide is fixedly connected to the rear end of the lifting frame 6. The two-axis module 7 and the linear module 8 can be used to move the x, y, and z axes of the straightening frame 2. The lifting frame 6 provides stable support for the two-axis module 7 and provides a driving effect for the alignment of the discharge port and the can opening. It also includes a microcontroller 9, which is placed on the right side of the mounting frame 1. The input end of the microcontroller 9 is electrically connected to an external power supply to provide control for the filling of bulk materials.

[0022] The connecting mechanism 5 includes a connector 51, a rotating shaft 52, an eccentric cam 53, guide wheels 54, and a feeding claw 56. The connector 51 is slidably connected to the lower end of the feed pipe 3. A sealing ring is provided on the upper end of the outer surface of the connector 51, and the outer edge of the sealing ring is in contact with the inner wall of the feed pipe 3 to provide a sliding sealing effect for the connector 51, which can prevent material leakage. The rotating shaft 52 is rotatably connected to the middle of the inside of the connector 51. The eccentric cam 53 is respectively set on the left and right sides of the outer surface of the rotating shaft 52. The guide wheels 54 are respectively rotatably connected to the left and right sides of the lower end of the outer surface of the feed pipe 3. The outer surface of the eccentric cam 53 is fitted with the outer surface of the vertically adjacent guide wheel 54, and the outer surface of the eccentric cam 53 is in contact with the outer surface of the vertically adjacent guide wheel 54. The material-grabbing claws 56 are all located in the middle of the outer surface of the rotating shaft 52. The material-grabbing claws 56 in the middle of the rotating shaft 52 face forward, while the material-grabbing claws 56 on both sides of the rotating shaft 52 face backward, providing a material-grabbing and vibration effect for the unloading of bulk materials. The connecting mechanism 5 also includes a limiting component 55, which includes a connecting block 551, a sliding column 552, a tension spring 553, and a limiting block 554. The connecting blocks 551 are respectively located at the four lower corners of the outer surface of the unloading pipe 3, and the sliding columns 552 are respectively located at the four corners of the upper edge of the connecting head 51. The outer surface of the sliding column 552 is slidably connected to the middle of the interior of the vertically adjacent connecting block 551. A tension spring 553 is provided between the upper end of the connecting head 51 and the lower end of the connecting block 551, and the tension spring 553 is sleeved on the outer surface of the sliding column 552. Limiting blocks 554 are respectively disposed on the middle of the left and right sides of the outer surface of the feeding pipe 3. Sliding grooves are provided on the left and right sides of the front end of the straightening frame 2. The outer surfaces of the limiting blocks 554 are slidably connected to the inner walls of the vertically adjacent sliding grooves, providing an elastic limiting effect for the up-and-down movement of the feeding pipe 3, allowing the feeding pipe 3 to fall more quickly. The limiting component 55 also includes an electromagnet 555, which is disposed at the lower end of the connector 51. The input end of the electromagnet 555 is electrically connected to the output end of the microcontroller 9. The electromagnet 555 is a common electromagnetic adsorption device in the prior art; after being energized, it can generate electromagnetic adsorption force, which can quickly adsorb metal parts. It can be connected to the tank opening of the powder tanker truck through the magnetic adsorption of the electromagnet 555. The connecting mechanism 5 also includes... Motor 57 is mounted on the upper left edge of connector 51 via angle iron. The input of motor 57 is electrically connected to the output of microcontroller 9. The right end of the output shaft of motor 57 is fixedly connected to the left end of rotating shaft 52, providing a driving effect for material handling and vibration operation. Connecting mechanism 5 also includes a vision camera 58, mounted on the upper front edge of connector 51 via angle iron. Vision camera 58 is bidirectionally electrically connected to microcontroller 9. A displacement sensor and a laser sensor can also be added to the lower edge of the outer surface of connector 51 to monitor the position and displacement distance of connector 51. The vision camera 58, displacement sensor, and laser sensor are all common position identification and monitoring devices in the prior art, used for positioning connector 51.The vision camera 58 can locate the position of the can opening by continuously capturing images of the coordinates of the can opening. During operation, it first maps the three-dimensional world coordinates to the pixel coordinate system through lens imaging. Then, it establishes the correspondence between pixel coordinates and physical coordinates using feature points. Finally, a transformation matrix is ​​used to align the coordinate system of the robotic arm, composed of the lifting frame 6, the two-axis module 7, and the linear module 8, with the spatial alignment of the vision system. Combined with displacement monitoring by the displacement sensor and height monitoring by the laser sensor, high-precision positioning is achieved, providing monitoring for the alignment of the feeding port and the can opening. The continuously rotating shaft 52 and the feeding claw 56 prevent bulk materials from accumulating at the telescopic tube 4. With the squeezing of the eccentric cam 53 and the limiting component 55, the telescopic tube 4 undergoes a vertical displacement during the feeding process. The vibration force generated by this displacement further prevents bulk materials from accumulating at the telescopic tube 4, minimizing material buildup and blockage, and improving the efficiency of bulk material filling.

[0023] The working principle of the three-dimensional alignment robot for aligning the discharge port and the tank opening provided by this utility model is as follows: When loading and unloading bulk materials, first connect the equipment to the discharge port of the external discharge device, align the feed flange on the front side of the upper end of the mounting frame 1 with the flange at the discharge port, and then fix the mounting frame 1 below the external discharge device after bolt connection. When the powder tanker moves into position, start connecting the discharge port to the tank opening of the powder tanker. Since the powder tanker is relatively large, it is difficult for the tank opening to be aligned with the discharge port of the external discharge device after the powder tanker moves into position. At this time, the microcontroller 9 controls the vision camera 58 to work. The vision camera 58 captures the position of the tank opening and sends it to the microcontroller 9. After calculation and processing, the microcontroller 9 controls the two-axis module 7 and the linear module 8 to work. The linear module 8... The feeding tube 3 can move vertically, and the two-axis module 7 can move the feeding tube 3 horizontally and vertically, thereby realizing the x, y, and z axis movement of the feeding tube 3. The telescopic tube 4 can contract and expand as the feeding tube 3 moves, providing movement compensation for the feeding tube 3. Combined with the real-time monitoring of the vision camera 58, the feeding tube 3 can be quickly aligned with the opening of the powder tanker. When the feeding tube 3 moves down after being aligned and connects with the opening of the powder tanker, the connector 51 first contacts the opening of the powder tanker. Through the chamfer of the lower protrusion, the connector 51 can quickly insert into the opening of the powder tanker. At this time, the microcontroller 9 controls the electromagnet 555 to be energized. The electromagnet 555 generates electromagnetic force and tightly fits with the metal opening of the powder tanker. At this time, the external feeding device is working. Bulk materials sequentially pass through the inlet flange, telescopic pipe 4, discharge pipe 3, and connector 51 into the powder tanker. During this process, the microcontroller 9 controls the motor 57 to operate. The output shaft of the motor 57 drives the rotating shaft 52 to rotate, and the chuck 56 also rotates accordingly, creating a chuck effect on the falling bulk materials, initially preventing the bulk materials from accumulating and clogging. At the same time, as the rotating shaft 52 rotates, the eccentric cam 53 also rotates. When the eccentric end of the eccentric cam 53 contacts and presses against the guide wheel 54, the connector 51 is tightly fitted to the metal tank opening of the powder tanker through electromagnetic force. Supported by the metal tank opening, it will not move, and the height of the eccentric cam 53 will not change. The guide wheel 54 will move upward under pressure, causing the discharge pipe 3 to move upward synchronously. The tension spring 553 will expand upward under force. During this process, the four sliding pillars 552 provide limiting and guiding effects for the movement of the lower part of the feeding tube 3, and the limiting block 554 provides limiting effects for the movement of the middle part of the limiting block 554, which can make the feeding tube 3 move up and down more stably. When the feeding tube 3 moves upward, the originally expanding telescopic tube 4 will contract, and the contraction distance is equal to the upward movement distance of the feeding tube 3. When the eccentric end of the eccentric cam 53 passes the guide wheel 54, the guide wheel 54 is no longer under force, the tension spring 553 contracts downward, the telescopic tube 4 expands, and the feeding tube 3 falls rapidly under the influence of its own weight and the tension of the tension spring 553 until it returns to its original position. This process generates an excitation force, which, together with the contraction and expansion of the telescopic tube 4, acts on the bulk material inside, further loosening the bulk material. This process repeats itself.This can further prevent the accumulation and blockage of bulk materials, thus improving the filling efficiency of bulk materials.

[0024] It is worth noting that the microcontroller 9 disclosed in the above embodiments is an STM32F031G4 microcontroller, the motor 57 is a 2BLD10-24GN-20S motor, the vision camera 58 is a DataMan 8072V vision camera, the two-axis module 7 is an OMDDH02 two-axis module, and the linear module 8 is a TKB136120C-600 linear module. The microcontroller 9 controls the operation of the electromagnet 555, the motor 57, the vision camera 58, the two-axis module 7, and the linear module 8 using methods commonly used in the prior art.

[0025] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A three-dimensional alignment robot for aligning the discharge port with the can opening, characterized in that: Includes a mounting bracket (1) and a connecting mechanism (5); Mounting frame (1): A movable straightening frame (2) is provided in the middle of the front side inside the mounting frame (1). A feeding pipe (3) is slidably connected in the middle of the inside of the straightening frame (2). A telescopic pipe (4) is provided between the front side of the top wall of the mounting frame (1) and the upper end of the feeding pipe (3). The connecting mechanism (5) includes a connector (51), a rotating shaft (52), an eccentric cam (53), a guide wheel (54), and a material-grabbing claw (56). The connector (51) is slidably connected to the lower end of the feed tube (3). The rotating shaft (52) is rotatably connected to the middle of the connector (51). The eccentric cam (53) is respectively set on the left and right sides of the outer surface of the rotating shaft (52). The guide wheel (54) is respectively rotatably connected to the left and right sides of the lower end of the outer surface of the feed tube (3). The outer surface of the eccentric cam (53) is fitted with the outer surface of the vertically adjacent guide wheel (54). The material-grabbing claw (56) is set in the middle of the outer surface of the rotating shaft (52).

2. The three-dimensional straightening robot for aligning the discharge port and the can opening according to claim 1, characterized in that: It also includes a microcontroller (9), which is placed on the right side of the mounting bracket (1), and the input terminal of the microcontroller (9) is electrically connected to an external power supply.

3. The three-dimensional alignment robot for aligning the discharge port and the can opening according to claim 1, characterized in that: The connecting mechanism (5) further includes a limiting component (55), which includes a connecting block (551), a sliding column (552), a tension spring (553), and a limiting block (554). The connecting block (551) is respectively located at the four corners of the lower end of the outer surface of the feed tube (3), and the sliding column (552) is respectively located at the four corners of the upper edge of the connector (51). The outer surface of the sliding column (552) is slidably connected to the middle of the interior of the vertically adjacent connecting block (551). A tension spring (553) is provided between the upper end of the connector (51) and the lower end of the connecting block (551). The tension spring (553) is sleeved on the outer surface of the sliding column (552). The limiting block (554) is respectively located at the middle of the left and right sides of the outer surface of the feed tube (3). The left and right sides of the front end of the straightening frame (2) are provided with sliding grooves. The outer surface of the limiting block (554) is slidably connected to the inner wall of the vertically adjacent sliding groove.

4. The three-dimensional alignment robot for aligning the discharge port and the can opening according to claim 3, characterized in that: The limiting component (55) also includes an electromagnet (555), which is located at the lower end of the connector (51). The input end of the electromagnet (555) is electrically connected to the output end of the microcontroller (9).

5. The three-dimensional alignment robot for aligning the discharge port and the can opening according to claim 2, characterized in that: The connecting mechanism (5) also includes a motor (57), which is set on the left edge of the upper end of the connector (51) by an angle iron. The input end of the motor (57) is electrically connected to the output end of the microcontroller (9), and the right end of the output shaft of the motor (57) is fixedly connected to the left end of the rotating shaft (52).

6. The three-dimensional alignment robot for aligning the discharge port and the can opening according to claim 2, characterized in that: The connecting mechanism (5) also includes a vision camera (58), which is mounted on the front edge of the upper end of the connector (51) via an angle iron. The vision camera (58) is bidirectionally electrically connected to the microcontroller (9).

7. The three-dimensional alignment robot for aligning the discharge port and the can opening according to claim 2, characterized in that: It also includes a lifting frame (6), a two-axis module (7) and a linear module (8). The lifting frame (6) is slidably connected to the middle of the rear side wall of the mounting frame (1). The two-axis module (7) is set at the upper end of the lifting frame (6). The lower rear side of the straightening frame (2) is fixedly connected to the upper end of the two-axis module (7). The linear module (8) is set on the left and right sides of the rear side wall of the mounting frame (1). The front end of the linear module (8) is fixedly connected to the rear end of the lifting frame (6). The input ends of the two-axis module (7) and the linear module (8) are electrically connected to the output end of the microcontroller (9).

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