CN106882607B

CN106882607B - Automatic loading system for stacking multiple material packages in same batch

Info

Publication number: CN106882607B
Application number: CN201710129395.9A
Authority: CN
Inventors: 王建军
Original assignee: MIANYANG LANAO HEAVY MACHINERY MANUFACTURING CO LTD
Current assignee: MIANYANG LANAO HEAVY MACHINERY MANUFACTURING CO LTD
Priority date: 2017-03-06
Filing date: 2017-03-06
Publication date: 2023-04-25
Anticipated expiration: 2037-03-06
Also published as: CN106882607A

Abstract

The invention discloses an automatic loading system for stacking a plurality of material bags in the same batch, which is arranged in a matched manner with a track arranged along the depth direction of a carriage, and comprises a main frame which is arranged on the track in a sliding manner and moves forwards/backwards, a stacking manipulator arranged on the main frame and a control system for controlling the operation of the automatic loading system, and is characterized in that: a belt transmission mechanism for transmitting the material packet from the feeding end to the stacking end is arranged in the main frame; the lower end of the stacking manipulator is rotationally connected with a multi-axis linkage rotary sucker assembly which is used for grabbing a plurality of material bags on the belt conveying mechanism and moving the material bags to a specified stacking position to release stacking. According to the invention, the rotary sucker assembly performs primary grabbing, moving and stacking on a plurality of material bags, and meanwhile, the multi-axis linkage realizes accurate, rapid and non-blind area automatic loading.

Description

Automatic loading system for stacking multiple material packages in same batch

Technical Field

The invention relates to the field of conveying equipment, in particular to an automatic loading system for stacking a plurality of material packages in the same batch.

Background

Powder materials are packed in bags and then loaded for shipment in the building material, metallurgy and chemical industry, and the loading procedure of loading is mainly carried by manpower at present. In the process that workers carry bagged and packed powder materials from a production workshop to a carriage for loading, the powder materials are in an environment with a large amount of dust diffusion, and related diseases of respiratory systems such as pneumoconiosis and the like are easy to cause, so that great harm is brought to physical and mental health of the workers, heavy burden is brought to families of practitioners, and the statistics of 2014 professional cases according to the national ministry of health is 27240 cases, wherein the pneumoconiosis accounts for 90.2%. The national level has attracted high importance, and the document "Anshi Su An Jian (2013) No. 112" of the national security administration about the work of reinforcing dust hazard management of powder processing enterprises such as cement manufacture and stone has issued the security production administration of the weapons of production and construction in the provinces, municipalities, direct jurisdictions and Xinjiang in 11 months and 14 months in 2013. How to solve the problem of a large amount of dust in the process of loading the bagged powder materials, and also brings important attention to the industry.

At present, the automatic loading system is many, but the stacking manipulator is not flexible enough, so that the efficiency of stacking the material bags in the carriage by the stacking manipulator is low; on the other hand, the existing automatic loading system can only carry out stacking of one material package at a time, and therefore the working efficiency cannot be effectively improved.

Disclosure of Invention

The invention aims to provide an automatic loading system for stacking a plurality of material bags in the same batch, which firstly can simultaneously stack a plurality of material bags in the same batch, and secondly can adjust any deflection angle at any coordinate of a discharging end of a stacking manipulator for grabbing the material bags in a working area, so that the stacking manipulator can flexibly move and can be quickly adjusted according to the position of a carriage, and the problem of loading blind areas is effectively avoided.

The invention is realized by the following technical scheme: an automatic loading system for stacking a plurality of material packages in the same batch is arranged in a matched manner with a track arranged along the depth direction of a carriage, and comprises a main frame which is slidably arranged on the track and moves forwards/backwards, a stacking manipulator arranged on the main frame and a control system for controlling the operation of the automatic loading system, wherein a belt transmission mechanism for transmitting the material packages from a loading end to a stacking end is arranged in the main frame; the lower end of the stacking manipulator is rotationally connected with a multi-axis linkage rotary sucker assembly which is used for grabbing a plurality of material bags on the belt conveying mechanism and moving the material bags to a specified stacking position to release stacking.

The automatic loading system is connected with a hydraulic source, a pneumatic source and an electric source which provide power sources. The main frame can drive the belt transmission mechanism, the stacking manipulator and the rotary sucker assembly to move along the track forwards/backwards, the belt transmission mechanism is connected with the material bags from the feeding end and conveyed to the discharging end, and meanwhile, the rotary sucker assembly installed at the lower end of the stacking manipulator is multi-axis linked and can flexibly grasp a plurality of material bags from the discharging end and quickly move to a designated position to release stacking, so that accurate, quick and non-blind area automatic loading of the material bags is realized.

When the automatic loading system is used for automatic loading, the automatic loading system comprises:

after a truck to be loaded is parked to a designated loading area, the control system drives a main frame which is matched with the track to drive a belt transmission mechanism, a stacking manipulator and a rotary sucker assembly to move forwards/backwards along the track according to the recognized truck coordinates, truck geometry and other information so as to perform preliminary positioning, and meanwhile, the control system calculates and records the deflection angle of a truck main shaft and the track, so that automatic loading preparation is performed;

then, continuously feeding the material bags one by one from a feeding end, conveying the material bags to a stacking end by a belt conveying mechanism, driving a rotary sucker assembly to move to the stacking end by a stacking manipulator, simultaneously grabbing a plurality of material bags by the rotary sucker assembly, moving to a designated position under the driving of the stacking manipulator, and then releasing stacking to finish stacking of the material bags once; repeating the above actions to finish the automatic loading of all the material packages.

The automatic loading system is used for automatic loading, and can be suitable for material bags with different unit weights, such as cement bags, river sand bags, flour bags and the like, so as to realize rapid and accurate stacking as long as the grabbing force (suction force) of the rotary sucker assembly for grabbing the material bags is changed. The air path of the rotary sucker assembly is connected with the vacuum device, the working principle of the rotary sucker assembly is the prior art, and the improvement point of the invention is not the same, so the description is omitted.

In the invention, the information acquisition of the carriage coordinates, the carriage geometric dimensions, the material packet positions and the like and the actions of all the components are realized by the control system, but the main improvement point of the invention is that the execution mechanism is not the control system, so the control system is not repeated. On the other hand, the action of each part in the invention needs to be externally connected with a power source, and the description is not repeated.

In order to better realize the invention, the belt conveying mechanism further comprises an inclined belt which is arranged obliquely downwards and is used for receiving materials from the feeding end and a bag arranging mechanism which is positioned at the stacking end and is used for intensively integrating a plurality of material bags at the stacking end.

According to the invention, the material packages transmitted from the inclined belt one package by one package are integrated at the package arranging mechanism, and a plurality of material packages are orderly and uniformly arranged and wait for grabbing of the rotary sucker assembly. The multiple material packages are usually in rectangular arrays, and other arrangements can be performed according to practical situations.

In order to better realize the invention, the bag straightening mechanism further comprises a bag stopping belt, a first transverse roller assembly, a second transverse roller assembly, a transverse pushing mechanism for pushing the material bag from the first transverse roller assembly to the second transverse roller assembly, and a bag stopping sensing device for sensing the position of the material bag and feeding back the position of the material bag to the control system, wherein the bag stopping belt, the first transverse roller assembly and the second transverse roller assembly are sequentially arranged; the horizontal pushing mechanism comprises a pushing driving device fixedly installed and a pushing plate connected to the output end of the reasoning driving device.

In the invention, a plurality of material bags are arranged in a rectangular array at the bag-arranging mechanism, so as to furthest match the structure of the truck loading truck box and fully utilize the truck box space. According to the invention, after a single-package material package falls into a package stopping belt, waiting for a subsequent material package to form a single-group material package to enter a first transverse roller assembly together, and transversely pushing a plurality of material packages to a second transverse roller assembly by a pushing plate of a transverse pushing mechanism to wait for grabbing of a rotary sucker assembly. The rotary sucker assembly simultaneously grabs a single group of material bags on the second transverse roller assembly or a plurality of groups of material bags consisting of a plurality of single groups of material bags, so that the automatic loading efficiency is effectively improved.

In order to better realize the invention, the first transverse roller assembly and the second transverse roller assembly respectively comprise a plurality of transverse rollers which are arranged in parallel and used for conveying.

The distance between the pushing plate and the working surface on the first rolling assembly or the working surface on the second rolling assembly is 2-5 mm, abnormal friction is prevented, and the service life of the equipment is prolonged.

In order to better realize the invention, the stacking manipulator further comprises a travelling mechanism which is arranged on the main frame and provided with a movable frame and a telescopic arm which is arranged on the movable frame; the rotary sucker assembly is rotatably arranged at the bottom end of the telescopic arm and connected with the moving frame which moves linearly through the telescopic arm which is telescopically regulated.

In the invention, the telescopic arm and the rotary sucker assembly move together in a straight line along the front/back, left/right double shafts under the drive of the moving frame.

In order to better realize the invention, the telescopic arm further comprises a fixing frame and a telescopic rod which are connected in a telescopic way; the rotary sucker assembly comprises a sucker unit, an assembly driving device and a sucker rotating frame for connecting the telescopic rod and the rotary sucker assembly; the sucker rotating frame comprises a fixed supporting part fixedly arranged at the bottom end of the telescopic rod and a rotating connecting part rotationally connected with the fixed supporting part, and the assembly driving device arranged on the telescopic rod drives the rotating connecting part to integrally rotate together with the sucker unit arranged on the rotating connecting part through the rotating connecting part.

According to the invention, the rotary sucker assembly is driven by the telescopic rod of the telescopic arm to linearly move up/down, and meanwhile, the structure of the rotary sucker assembly for adjusting the deflection angle by self rotation at the bottom end of the telescopic arm is further disclosed, and the rotary sucker assembly can be used for compensating the deflection angle adjustment according to the deflection angle of the carriage main shaft and the rail, which is obtained when the automatic loading preparation is carried out, so that the grabbed material bags and the carriages are stacked in a straight and orderly manner.

Further, the sucking disc subassembly includes a plurality of sucking disc units and sucking disc drive arrangement that set up with the material package one-to-one, and the sucking disc drive arrangement drive individual rotary motion of sucking disc unit that the one-to-one set up of installing on the subassembly support. That is, a rotary chuck assembly including a plurality of chuck units may be integrally rotatably adjusted while each chuck unit may also be separately rotatably adjusted.

In order to better realize the invention, further, the sucker unit is arranged through a sucker mounting rack fixedly arranged on the rotary connecting part; the sucker mounting rack comprises an adjusting plate provided with an adjusting chute, an adjusting rod penetrating the adjusting chute and capable of transversely sliding in the adjusting chute, and an adjusting block arranged on the adjusting rod in a sliding manner; the adjusting blocks are connected with the sucker units in a one-to-one correspondence manner.

In order to better realize the invention, the travelling mechanism further comprises a longitudinal support arranged longitudinally along the track, a transverse support transversely crossing the two longitudinal supports, a longitudinal movement driving device fixedly arranged on the transverse support, a movable frame movably arranged on the transverse support and a transverse movement driving device fixedly arranged on the movable frame; the output end of the transverse moving driving device is in transmission connection with the transverse support through the transverse moving assembly, and the transverse moving driving device drives the movable frame to move left/right transversely; the output end of the longitudinal movement driving device is in transmission connection with the longitudinal support through the longitudinal movement assembly, and the longitudinal movement driving device drives the transverse support, the transverse movement driving device and the moving frame to move forwards/backwards longitudinally.

In order to better realize the invention, the transverse moving driving device further comprises a transverse moving motor and a transverse moving speed reducer which are connected with each other, the transverse moving assembly comprises a transverse driving gear arranged at the output end of the transverse moving speed reducer and a transverse driving rack fixedly arranged on a transverse support, the transverse driving gear is meshed with the transverse driving rack, and the transverse moving motor drives the transverse driving gear to move in a meshed manner on the transverse driving rack through the transverse moving speed reducer; the longitudinal movement driving device comprises a longitudinal movement motor and a longitudinal movement speed reducer which are connected with each other, and the longitudinal movement assembly comprises a longitudinal driving coupler, a longitudinal driving extension rod, a longitudinal driving gear and a longitudinal driving rack which is fixedly arranged on a longitudinal support and meshed with the longitudinal driving gear, wherein the longitudinal driving coupler and the longitudinal driving extension rod are arranged at the output end of the longitudinal movement speed reducer, and the longitudinal movement motor drives the longitudinal driving gear to move in a meshed mode on the longitudinal driving rack sequentially through the longitudinal driving coupler and the longitudinal driving extension rod.

In order to better realize the invention, the main frame is further provided with a dust collection mechanism, and the dust collection opening of the dust collection mechanism corresponds to the position of the discharging end of the belt transmission mechanism.

Compared with the prior art, the invention has the following advantages:

(1) According to the invention, the suction cup assembly is rotated once to grasp, move and stack a plurality of material bags, so that the efficiency is obviously improved;

(2) According to the invention, the main frame and the mechanical arm drive the rotary sucker assembly to realize multi-axis linkage, so that the grabbing, moving and stacking are accurate in positioning and rapid in action, the space of the carriage can be fully utilized, and the rapid, accurate and non-blind automatic loading is realized.

Drawings

Fig. 1 is a schematic structural view of an automatic loading system.

Fig. 2 is a schematic diagram of a butt joint structure of the belt conveying mechanism and the bag finishing mechanism.

Fig. 3 is a schematic structural diagram of the driving mechanism.

Fig. 4 is an enlarged schematic view of the structure a in fig. 3.

Fig. 5 is an enlarged schematic view of the structure at B in fig. 3.

Fig. 6 is a schematic view of the structure of the position where the traversing guide protrusion is provided.

Fig. 7 is a schematic structural view of a palletizing robot and a connected rotary chuck assembly.

Fig. 8 is an enlarged schematic view of the structure a in fig. 7.

Fig. 9 is a schematic diagram of the connection structure of the rotary chuck assembly and the chuck turret.

Fig. 10 is an enlarged schematic view of the structure at B in fig. 9.

Fig. 11 is a schematic top view of a spin chuck assembly.

Fig. 12 is a schematic view of the use state of the automatic loading system for stacking a plurality of material packages in the same batch.

Wherein: 1. a main frame; 2. a driving mechanism; 21. a longitudinal support; 211. a straight guide rail; 22. a transverse support; 23. a moving rack; 231. a lateral guide projection; 24. a longitudinal movement driving device; 25. a lateral movement driving device; 261. a transverse driving gear; 262. a horizontal driving rack; 271. a longitudinal drive coupling; 272. a longitudinal driving extension rod; 273. a longitudinal drive gear; 274. a longitudinal driving rack; 28. a middle support; 3. a telescoping arm; 31. a fixing frame; 32. a telescopic rod; 4. a rotating chuck assembly; 401. a suction cup unit; 41. a fixed support part; 42. a rotary connection part; 43. a turret drive assembly; 44. a turret drive motor; 45. an adjustment plate; 46. an adjusting lever; 47. adjusting the block; 471. a guide rod; 48. a first fixing member; 5. a belt transport mechanism; 6. a bag finishing mechanism; 61. stopping the belt; 62. a first cross roller assembly; 63. a second cross roller assembly; 64. a transverse pushing mechanism; 7. a dust collection mechanism; 001. a track; 002. a vacuum device; 003. a hydraulic pump.

Detailed Description

The present invention will be described in further detail with reference to examples, but embodiments of the present invention are not limited thereto. It is to be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the drawings to indicate or relate to positions or positions based on the drawings, and are merely for convenience in describing the invention and simplifying the description, but do not indicate or imply that the devices or elements being referred to must have a particular orientation, be configured and operated in a particular orientation, and thus should not be construed as limiting the invention.

Example 1:

the automatic loading system for stacking a plurality of material packages in the same batch is shown in fig. 1, is arranged in a matched manner with a track arranged along the depth direction of a carriage, and comprises a main frame 1 which is slidably arranged on the track and moves forwards/backwards, a stacking manipulator arranged on the main frame 1 and a control system for controlling the operation of the automatic loading system, wherein a belt transmission mechanism 5 for transmitting the material packages from a feeding end to a stacking end is arranged in the main frame 1; the lower end of the stacking manipulator is rotatably connected with a multi-shaft linkage rotary sucker assembly 4 for grabbing and moving a plurality of material bags on the belt conveying mechanism 5 to a specified stacking position to release stacking.

As shown in fig. 1, the palletizing manipulator comprises a travelling mechanism 2 which is arranged on a main frame 1 and is provided with a 23 and a telescopic arm 3 which is arranged on the 23; the rotary sucker assembly 4 is rotatably arranged at the bottom end of the telescopic arm 3 and is connected with the moving frame 23 which moves linearly along two shafts through the telescopic arm 3 which is telescopically regulated.

As shown in fig. 3, the telescopic arm 3 comprises a fixing frame and a telescopic rod which are connected in a telescopic way; the rotary sucker assembly 4 comprises a sucker unit 401, an assembly driving device and a sucker rotating frame for connecting the telescopic rod and the rotary sucker assembly 4; the sucker rotating frame comprises a fixed supporting part 41 fixedly arranged at the bottom end of a telescopic rod and a rotating connecting part 42 rotationally connected with the fixed supporting part 41, and a component driving device arranged on the telescopic rod drives the rotating connecting part 42 to integrally rotate together with a sucker unit 401 arranged on the rotating connecting part 42 through the rotating connecting part 42.

As shown in fig. 7 and 9, the suction cup assembly includes a plurality of suction cup units 401 and suction cup driving devices, which are arranged in one-to-one correspondence with the material bags, and the suction cup driving devices installed on the assembly bracket drive the suction cup units 401 which are arranged in one-to-one correspondence with the material bags to rotate independently. That is, the rotary chuck assembly 4 including the plurality of chuck units 401 may be integrally rotatably adjusted while each chuck unit 401 may also be separately rotatably adjusted.

As shown in fig. 3, the travelling mechanism 2 comprises a longitudinal support 21 longitudinally arranged along a track, a transverse support 22 transversely crossing the two longitudinal supports 21, a longitudinal movement driving device 24 fixedly arranged on the transverse support 22, a movable frame 23 movably arranged on the transverse support 22, and a transverse movement driving device 25 fixedly arranged on the transverse support 23; the output end of the transverse moving driving device 25 is in transmission connection with the transverse support 22 through a transverse moving assembly, and the transverse moving driving device 25 drives 23 to move left/right transversely; the output end of the longitudinal movement driving device 24 is in transmission connection with the longitudinal support 21 through a longitudinal movement assembly, and the longitudinal movement driving device 24 drives the transverse support 22 and the transverse

movement driving devices

25 and 23 to move longitudinally forwards/backwards together.

In this embodiment, the automatic loading system is multi-axis driven:

1. the main frame 1 performs a front/rear rectilinear motion along the rail;

2. the movable frame 23 in the driving mechanism 2 moves in a left-right transverse direction and a front-back longitudinal direction;

3. the telescopic rod of the telescopic arm 3 moves linearly up/down relative to the fixed frame;

4. the rotary sucker assembly 4 rotates relative to the telescopic rod;

5. the individual suction cup units 401 are individually rotationally movable (optional).

The automatic loading system is connected with a hydraulic source, a pneumatic source and an electric source which provide power sources, and as shown in figure 1, the power sources comprise a vacuum device 002 and a hydraulic pump 003; as shown in fig. 2, the main frame 1 may drive the belt transmission mechanism 5, the stacking manipulator, and the rotary suction cup assembly 4 to move along the track forward/backward, where the belt transmission mechanism 5 accesses the material packet from the feeding end and conveys the material packet to the discharging end, and meanwhile, the rotary suction cup assembly 4 installed at the lower end of the stacking manipulator performs multi-axis linkage, and can flexibly grasp a plurality of material packets from the discharging end and quickly move to a designated position to release the stacking, so as to realize accurate, quick and non-blind area automatic loading of the plurality of material packets.

after a truck to be loaded is parked to a designated loading area, the control system drives a main frame 1 which is matched with the track to drive a belt transmission mechanism 5, a stacking manipulator and a rotary sucker assembly 4 to move forwards/backwards along the track according to the recognized truck coordinates, truck geometry and other information so as to perform preliminary positioning, and meanwhile, the control system calculates and records the deflection angle of a truck spindle and the track, so that automatic loading preparation is prepared;

then, the material bags which are connected with one another continuously enter from a feeding end and are conveyed to a stacking end by a belt conveying mechanism 5, a stacking manipulator drives a rotary sucker assembly 4 to move to the stacking end, a plurality of material bags are simultaneously grabbed by the rotary sucker assembly 4, and then the material bags are released to stack after being moved to a designated position under the driving of the stacking manipulator, so that stacking of the material bags is completed once; repeating the above actions to finish the automatic loading of all the material packages.

Example 2:

in this embodiment, the material package with four rectangular arrays is taken as an example for grabbing the material package by the rotary chuck assembly 4 at a time.

An automatic loading system for stacking a plurality of material packages in the same batch is arranged in a matched manner with a track arranged along the depth direction of a carriage, and comprises a main frame 1 which is slidably arranged on the track and moves forwards/backwards, a stacking manipulator arranged on the main frame 1 and a control system for controlling the operation of the automatic loading system, wherein a belt transmission mechanism 5 for transmitting the material packages from a loading end to a stacking end is arranged in the main frame 1; the lower end of the stacking manipulator is rotatably connected with a multi-shaft linkage rotary sucker assembly 4 for grabbing and moving a plurality of material bags on the belt conveying mechanism 5 to a specified stacking position to release stacking. The belt conveying mechanism 5 comprises an inclined belt which is arranged obliquely downwards and is used for receiving materials from a feeding end, and a bag straightening mechanism 6 which is arranged at a stacking end and is used for centralizing and integrating a plurality of material bags at the stacking end.

As shown in fig. 2, the bag straightening mechanism 6 includes a bag stopping belt 61, a first transverse roller assembly 62, a second transverse roller assembly 63, a transverse pushing mechanism 64 for pushing the material bag from the first transverse roller assembly 62 to the second transverse roller assembly 63, and a bag stopping sensing device for sensing the position of the material bag and feeding back the position to the control system, wherein the conveying direction of the first transverse roller assembly 62 is perpendicular to the conveying direction of the second transverse roller assembly 63; the horizontal pushing mechanism 64 comprises a pushing driving device which is fixedly installed and a pushing plate which is connected with the output end of the reasoning driving device. The first and second

horizontal roller assemblies

62 and 63 respectively include a plurality of horizontal rollers disposed in parallel for conveyance.

In this embodiment, the material packages are transported from the belt conveyor 5 to the stop belt 61, identified by the sensing device and fed back to the control system for recording.

Taking the material package of four rectangular arrays of grabbing once by the rotary sucker assembly 4 as an example:

the first package is marked as 1# when transported to the stopping belt 61, the second package is marked as 2# when transported to the stopping belt, the 1# and 2# packages are simultaneously moved to the first transverse roller assembly 62 and the stopping belt 61 is stopped; the material bags # 1 and # 2 are tightly attached to form a first single group under the action of rolling pushing in the first transverse roller assembly 62 and are transversely pushed to the second transverse roller assembly 63 by the material pushing plate; the material bags 1# and 2# form a regular row under the action of the transverse rolling pushing action in the second transverse roller assembly 63, the bag stopping belt 61 resumes the movement, and the recorded third material bag 3# and fourth material bag 4# repeat the actions to form a second single group on the first transverse roller assembly 62; the material bags # 3 and # 4 are transversely pushed to the second transverse roller assembly 63 by the material pushing plate and are attached to the material bags # 1 and # 2 under the transverse rolling pushing action in the second transverse mixing assembly, so that a regular rectangular array arrangement is formed. The rectangular array of material packs # 1, # 2, # 3 and # 4 wait for one-time grasping of the rotary chuck assembly 4.

Other portions of the present embodiment are the same as those of the above embodiment, and thus will not be described again.

Example 3:

the structure of the driving mechanism 2 is further optimized on the basis of the embodiment, and the driving mechanism 2 comprises a longitudinal support 21, a transverse support 22, a movable frame 23, a longitudinal movement driving device 24, a transverse movement driving device 25, a transverse movement assembly and a longitudinal movement assembly. The movable frame 23 is mounted on the transverse support 22, and the output end of a transverse movement driving device 25 fixedly mounted on the movable frame 23 is connected with the transverse support 22 through a transverse movement assembly to drive the movable frame 23 to move transversely left/right along the transverse support 22. The transverse support 22 is arranged on the longitudinal support 21, and the output end of a longitudinal movement driving device 24 fixedly arranged on the transverse support 22 is connected with the longitudinal support 21 through a longitudinal movement assembly, so that the transverse support 22 drives the movement frame 23 to move longitudinally along the longitudinal support 21 forwards/backwards.

As shown in fig. 3, in this embodiment, a moving frame 23 connected with the stacking manipulator realizes bidirectional movement of the load through a longitudinal support 21 and a transverse support 22 which are arranged horizontally and vertically; on the other hand, the movable frame 23 connected with the stacking manipulator realizes transverse accurate movement through the transverse movement driving device 25 and the transverse movement component connected with the output end of the transverse movement driving device, and meanwhile, the movable frame 23 connected with the stacking manipulator realizes longitudinal accurate movement through the transverse movement driving device 24 and the longitudinal movement component connected with the output end of the transverse movement driving device. When the vehicle is automatically loaded, the load can be driven by the movable frame 23 to move to any appointed two-dimensional coordinate position in the carriage, and the movement is accurate, flexible and rapid.

The lateral movement driving device 25 comprises a lateral movement motor and a lateral movement speed reducer which are connected with each other, the lateral movement assembly comprises a lateral movement driving gear 261 arranged at the output end of the lateral movement speed reducer and a lateral movement driving rack 262 fixedly arranged on the lateral support 22, the lateral movement driving gear 261 is meshed with the lateral movement driving rack 262, and the lateral movement motor drives the lateral movement driving gear 261 to move on the lateral movement driving rack 262 through the lateral movement speed reducer. The traversing motor adopts a servo motor.

In order to better realize the accurate longitudinal movement of the moving frame 23, as shown in fig. 5, the longitudinal movement driving device 24 includes a longitudinal movement motor and a longitudinal movement speed reducer that are connected with each other, and the longitudinal movement assembly includes a longitudinal driving coupler 271, a longitudinal driving extension rod 272, a longitudinal driving gear 273 and a longitudinal driving rack 274 that is fixedly installed on the longitudinal support 21 and meshed with the longitudinal driving gear 273, where the longitudinal movement motor drives the longitudinal driving gear 273 to move on the longitudinal driving rack 274 in a meshing manner sequentially through the longitudinal driving coupler 271 and the longitudinal driving extension rod 272.

In order to better ensure the running stability of the driving mechanism 2 during loading, the rotating shaft of the transverse driving gear 261 is vertically arranged, and the transverse driving gear 261 and the carrying ends of the movable frame 23 are respectively arranged on two sides of the transverse support 22.

In this embodiment, as shown in fig. 4, the dead weight of the traversing driving device 25 with its output end connected to the traversing driving gear 261 is used to balance the load mounted on the load end of the moving frame 23, so as to reduce excessive wear deformation of the moving frame 23 due to long-term one-side tilting, prolong the service life of the device, and improve the accuracy of the traversing movement of the moving frame 23.

As shown in fig. 6, a lateral movement guiding convex part 231 matched with the outline of the transverse support 22 is also arranged at the joint of the movable frame 23 and the transverse support 22. The lateral movement guide convex part 231 is just matched with the profile of the lateral support 22, so that the contact area of the movable frame 23 and the lateral support 22 is increased, the corresponding pressure intensity at the contact surface of the movable frame 23 and the lateral support 22 is reduced, the abrasion is slowed down, and the running stability of the movable frame 23 when moving relative to the lateral support 22 is enhanced.

In order to better ensure the running stability of the travelling mechanism 2 under load, the travelling mechanism further comprises a middle support 28 for stably connecting the transverse support 22 with the longitudinal support 21; the top of the middle support 28 is fixedly connected with the transverse support 22, and the bottom of the middle support 28 is slidably connected with the longitudinal support 21. In this embodiment, the middle support 28 is provided to strengthen the bearing performance at the connection between the transverse support 22 and the longitudinal support 21, so as to meet the performance requirement during heavy-load transportation.

As shown in fig. 5, the side of the longitudinal support 21 connected with the middle support 28 is provided with a raised straight guide rail 211, while the middle support 28 is provided with an outer slide rail matching the straight guide rail 211 in shape. In this embodiment, the shape of the straight guide rail 211 is matched with that of the outer slide rail, so that the straight guide rail 211 plays a guiding role and simultaneously enhances the stability of the two relative movements.

And a ball component or a roller component which assists in stably sliding is also arranged between the straight guide rail 211 and the outer slide rail. The ball assembly or the roller assembly is positioned between the straight guide rail 211 and the outer slide rail, and by utilizing structural characteristics, the friction force during relative movement between the straight guide rail 211 and the outer slide rail is reduced, the stability during relative movement is provided, and the performance requirement during heavy load is met.

Example 4:

the structure of the stacking manipulator and the rotary sucker assembly 4 is further optimized on the basis of the embodiment. The stacking manipulator is arranged on the driving mechanism 2 which moves bidirectionally and is externally connected with an air pump and a control system, and as shown in fig. 7 and 8, the stacking manipulator comprises a telescopic arm 3, a rotary sucker assembly 4 positioned at the tail end of the telescopic arm 3, a sucker rotating frame for connecting the telescopic arm 3 and the rotary sucker assembly 4, and an assembly driving device for driving the rotary sucker assembly 4 to rotate; the telescopic arm 3 comprises a fixing frame 31 and a telescopic rod 32 which are connected in a telescopic manner; the sucker rotating frame comprises a fixed supporting part 41 fixedly arranged at the bottom end of the telescopic rod 32 and a rotating connecting part 42 rotationally connected with the fixed supporting part 41, and the rotating sucker assembly 4 is arranged on the rotating connecting part 42.

The number of the telescopic rods 32 is three, and the three telescopic rods 32 arranged in parallel are simultaneously connected with the fixing frame 31 and the fixing support portion 41.

In the embodiment, firstly, the rotary sucker assembly 4 is connected with an air pump, and the air pump controls the rotary sucker assembly 4 to adsorb or release the material packet, so that the grabbing or unloading of the material packet is realized; secondly, a fixed frame 31 in the telescopic arm 3 is arranged on a movable frame 23 of the travelling mechanism 2, and the rotary sucker assembly 4 and the adsorbed material bag can move forwards/backwards/leftwards/rightwards along with the movable frame 23 on the travelling mechanism 2 through the telescopic arm 3, namely, the grabbed material bag moves in a plane parallel to the bottom of the carriage to be loaded; and thirdly, the telescopic rod 32 which moves relatively in the telescopic arm 3 drives the rotary sucker assembly 4 at the tail end of the bottom of the telescopic rod 32 to move up/down together. Through the structure, the rotary sucker assembly 4 can quickly move to any appointed position in the compartment to be loaded after grabbing the material bag, and then release and stack the material bag.

As shown in fig. 9, the assembly driving device includes a turret driving assembly 43 and a turret driving motor 44 fixedly mounted on the fixed support 41, where the output end of the turret driving motor 44 drives the rotation connection part 42 to drive the rotation chuck assembly 4 to integrally rotate through the turret driving assembly 43.

As shown in fig. 9 and 11, the turret transmission assembly 43 is a belt type, and includes a first driving wheel mounted at an output end of the turret driving motor 44, a first driven wheel mounted at the rotation connection portion 42, and a first belt for connecting the first driving wheel and the first driven wheel to transmit.

The rotating frame transmission assembly 43 adopts a belt transmission mode, and the rotating frame driving motor 44 drives the rotating connecting part 42 to drive the rotating sucker assembly 4 arranged on the rotating connecting part 42 to integrally rotate through the first driving wheel, the first belt and the first driven wheel. Through the structure, the whole offset angle of the rotary sucker assembly 4 is adjusted, so that the rotary sucker assembly 4 adsorbs a material bag to perform offset angle adjustment.

The rotary sucker assembly 4 comprises a plurality of sucker units 401 of which air paths are connected with an air pump and a sucker mounting rack for mounting the sucker units 401; the suction cup mounting is secured to the swivel connection 42.

Further, the rotary chuck assembly 4 further includes unit rotation driving devices connected to the chuck units 401 in a one-to-one correspondence, and each unit rotation driving device individually controls one chuck unit 401 to drive the chuck unit 401 to perform independent deflection angle adjustment.

The sucker mounting rack comprises an adjusting plate 45 provided with an adjusting chute, an adjusting rod 46 penetrating the adjusting chute and transversely sliding in the adjusting chute, and an adjusting block 47 slidably arranged on the adjusting rod 46; the adjusting blocks 47 are connected with the sucker units 401 in a one-to-one correspondence.

As shown in fig. 9, the number of the sucking disc units 401 is four, and the four sucking disc units 401 are arranged in a square matrix; the number of the adjusting rods 46 is two, the two adjusting rods 46 are arranged in parallel and respectively penetrate through two groups of adjusting sliding grooves, and each adjusting rod 46 is provided with two adjusting blocks 47 connected with the sucker unit 401.

In this embodiment, the adjusting rods 46 are laterally adjusted in the adjusting chute, so that the adjustment of the space between the adjacent sucker units 401 respectively mounted on the two adjusting rods 46 can be realized; the adjustment block 47 is adjusted on the adjustment rod 46 along its axis to achieve adjustment of the spacing between adjacent suction cup units 401 respectively mounted on the same adjustment rod 46. The rotary sucker assembly 4 can be better adapted to the adsorption requirements of material bags with different sizes by adjusting the spacing between the sucker units 401, so that each sucker unit 401 can be aligned to the center of the material bag for effective adsorption.

As shown in fig. 10, the adjusting block 47 is provided with a socket for sleeving the adjusting rod 46, a guide groove for movably connecting with the sucker unit 401, and a guide rod 471 sleeved in the guide groove; the bottom end of the guide rod 471 is fixedly connected with the sucker unit 401, and a guide limiting block for preventing the guide rod 471 from being separated from the guide groove is arranged at the top end of the guide rod 471.

In this embodiment, each sucking disc unit 401 can perform small-range up/down fine adjustment relative to the adjusting block 47 through the guide rod 471 and the guide groove which are correspondingly arranged, so as to better adapt to different requirements during automatic loading.

As shown in fig. 10, the suction cup mounting further includes a first fixing member 48 for positioning and fixing the adjustment lever 46 in the adjustment chute; the first fixing member 48 includes a fixing sleeve sleeved with the connecting rod, and a first bolt and nut assembly (not shown in the drawings) fixedly connecting the fixing sleeve and the adjusting chute.

In order to ensure the stability of the manipulator during operation, the positioning of the adjusting lever 46 in the adjusting chute is performed by the first fixing element 48. The bolt and nut structure is adopted for positioning and fixing, the structure is simple, and the connection is reliable.

A second fixing member is further provided, and in order to ensure the stability of the manipulator during operation, the adjusting block 47 is positioned and fixed by the second fixing member after the position of the adjusting rod 46 is determined. The second fixing piece is a bolt, and the bolt is in threaded connection with the adjusting block 47 and passes through the adjusting block 47 to be pressed on the adjusting rod 46 for positioning and fixing.

Example 5:

in this embodiment, as shown in fig. 1 and 12, a dust suction mechanism 7 is further installed on the main frame 1, and a dust suction port of the dust suction mechanism 7 corresponds to a position of a discharging end of the belt conveying mechanism 5. The dust collection mechanism 7 is externally connected with an air source, and is used for carrying out dust absorption and recovery when carrying out automatic loading on material bags such as cement, flour and the like, so as to purify the working environment.

The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and any simple modification, equivalent variation, etc. of the above embodiment according to the technical matter of the present invention fall within the scope of the present invention.

Claims

1. The utility model provides an automatic loading system with batch a plurality of material packages of stacking, with along railway (001) supporting installation of railway carriage depth direction setting, including slidable mounting on the track main frame (1) that fore/after moved, install the control system of the work of automatic loading system on main frame (1), its characterized in that: a belt transmission mechanism (5) for transmitting the material packet from the feeding end to the stacking end is arranged in the main frame (1); the lower end of the stacking manipulator is rotationally connected with a multi-axis linkage rotary sucker assembly (4) which is used for grabbing and moving a plurality of material bags on a belt transmission mechanism (5) to a specified stacking position to release stacking; the belt conveying mechanism (5) comprises an inclined belt which is arranged obliquely downwards and receives materials from a feeding end and a whole bag mechanism (6) which is positioned at a stacking end and integrates a plurality of material bags at the stacking end in a concentrated manner;

the bag arranging mechanism (6) comprises a bag stopping belt (61), a first transverse roller assembly (62), a second transverse roller assembly (63), a transverse pushing mechanism (64) for pushing a material bag from the first transverse roller assembly (62) to the second transverse roller assembly (63) and a bag stopping induction device for inducing the position of the material bag and feeding back the position to the control system, wherein the bag stopping induction device is sequentially arranged, and the first transverse roller assembly (62) is perpendicular to the transmission direction of the second transverse roller assembly (63); the horizontal pushing mechanism (64) comprises a pushing driving device which is fixedly installed and a pushing plate which is connected with the output end of the reasoning driving device;

the stacking manipulator comprises a travelling mechanism (2) which is arranged on a main frame (1) and provided with a movable frame (23) and a telescopic arm (3) which is arranged on the movable frame (23);

the travelling mechanism (2) comprises longitudinal supports (21) longitudinally arranged along a track, transverse supports (22) transversely crossing the two longitudinal supports (21), longitudinal movement driving devices (24) fixedly arranged on the transverse supports (22), movable frames (23) movably arranged on the transverse supports (22) and transverse movement driving devices (25) fixedly arranged on the movable frames (23); the output end of the transverse moving driving device (25) is in transmission connection with the transverse support (22) through a transverse moving assembly, and the transverse moving driving device (25) drives the movable frame (23) to move left/right transversely; the output end of the longitudinal movement driving device (24) is in transmission connection with the longitudinal support (21) through a longitudinal movement assembly, and the longitudinal movement driving device (24) drives the transverse support (22), the transverse movement driving device (25) and the movement frame (23) to move longitudinally forwards/backwards.

2. An automatic loading system for stacking a plurality of material packages in a single batch as claimed in claim 1, wherein: the first transverse roller assembly (62) and the second transverse roller assembly (63) respectively comprise a plurality of transverse rollers which are arranged in parallel and used for conveying.

3. An automatic loading system for stacking a plurality of material packages in a single batch as claimed in claim 1, wherein: the telescopic arm (3) comprises a fixing frame (31) and a telescopic rod (32) which are connected in a telescopic way; the rotary sucker assembly (4) comprises a sucker unit (401), an assembly driving device and a sucker rotating frame for connecting the telescopic rod (32) and the rotary sucker assembly (4); the sucker rotating frame comprises a fixed supporting part (41) fixedly arranged at the bottom end of the telescopic rod (32) and a rotating connecting part (42) rotationally connected with the fixed supporting part (41), and the assembly driving device arranged on the telescopic rod (32) drives the rotating connecting part (42) to integrally rotate together with the sucker unit (401) arranged on the rotating connecting part (42) through the rotating connecting part (42).

4. An automated loading system for stacking a plurality of packages in a single batch as defined in claim 3, wherein: the sucker unit (401) is installed through a sucker installation rack fixedly installed on the rotary connecting part (42); the sucker mounting rack comprises an adjusting plate (45) provided with an adjusting chute, an adjusting rod (46) penetrating the adjusting chute and capable of transversely sliding in the adjusting chute, and an adjusting block (47) slidably mounted on the adjusting rod (46); the adjusting blocks (47) are connected with the sucker units (401) in a one-to-one correspondence.

5. An automatic loading system for stacking a plurality of material packages in a single batch as claimed in claim 1, wherein: the transverse moving driving device (25) comprises a transverse moving motor and a transverse moving speed reducer which are connected with each other, the transverse moving assembly comprises a transverse driving gear (261) arranged at the output end of the transverse moving speed reducer and a transverse driving rack (262) fixedly arranged on the transverse support (22), the transverse driving gear (261) is meshed with the transverse driving rack (262), and the transverse moving motor drives the transverse driving gear (261) to move on the transverse driving rack (262) in a meshed mode through the transverse moving speed reducer; the longitudinal movement driving device (24) comprises a longitudinal movement motor and a longitudinal movement speed reducer which are connected with each other, the longitudinal movement assembly comprises a longitudinal driving coupler (271), a longitudinal driving extension rod (272), a longitudinal driving gear (273) and a longitudinal driving rack (274) fixedly arranged on a longitudinal support (21) and meshed with the longitudinal driving gear (273), and the longitudinal movement motor drives the longitudinal driving gear (273) to move on the longitudinal driving rack (274) in a meshed manner sequentially through the longitudinal driving coupler (271) and the longitudinal driving extension rod (272).

6. An automatic loading system for stacking a plurality of material packages in a same batch as defined in claim 1 or 2, wherein: the main frame (1) is also provided with a dust collection mechanism (7), and a dust collection opening of the dust collection mechanism (7) corresponds to the position of the blanking end of the belt transmission mechanism (5).