CN103896187A

CN103896187A - Self-propelled bagged cargo stacking and unstacking track loader

Info

Publication number: CN103896187A
Application number: CN201410147771.3A
Authority: CN
Inventors: 张利军
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-04-14
Filing date: 2014-04-14
Publication date: 2014-07-02
Anticipated expiration: 2034-04-14
Also published as: CN103896187B

Abstract

The invention relates to a self-propelled bagged cargo stacking and unstacking track loader, and belongs to bagged cargo stacking and unstacking truck loading equipment. The self-propelled bagged cargo stacking and unstacking track loader mainly solves the technical problems that according to existing stacking equipment, the stacking and truck loading speed is low, and carry workloads are large. According to the technical scheme, the self-propelled bagged cargo stacking and unstacking track loader comprises a remote controller, an encoder and an angle sensor, and further comprises a cargo delivery taking device, a cargo hoisting device, a walking mechanism, a stacking device and a rotary type door frame, wherein the cargo delivery taking device is arranged on the lower portion of a cargo delivery taking door frame in front of the rotary type door frame and can move up and down on the cargo delivery taking door frame, the stacking device is arranged on the lower portion of a stacking door frame at the back of the rotary type door frame and can move up and down on the stacking door frame, the rotary type door frame is connected with the front end of the walking mechanism through a rotating shaft, the cargo hoisting device is installed on the upper surface of the walking mechanism, the encoder is arranged at the bottom of the rotating shaft of the rotary type door frame, and the angle sensor is disposed on a swing mechanism of the cargo hoisting device.

Description

Self-propelled bag cargo piling de-stacking carloader

Technical field

The present invention relates to a kind of self-propelled bag cargo piling de-stacking carloader, it belongs to a kind of bag cargo piling de-stacking truck-loading facilities.

Background technology

In the chemical fertilizer as background take woven bag packing, feed, flour industry, its piling mechanical piling or robot pilings of adopting more, but need de-stacking entrucking after code is piled up neatly well time, now main still take a dead lift as main, porter's work capacity is large, labour intensity is high and efficiency is low.For addressing this problem, Chinese patent CN102674015A discloses a kind of de-stacking entrucking feedway of bagged material, although this device has solved the transportation problem in de-stacking entrucking, but still not solving the technical matters of de-stacking and entrucking piling, the de-stacking loading speed still existing is slow, entrucking longevity of service, handling workload is large, labour intensity is high and inefficient shortcoming.

Summary of the invention

The object of the invention is to solve that the de-stacking loading speed that existing Palletizer exists is slow, entrucking longevity of service, handling workload is large, labour intensity is high and inefficient technical matters, and the self-propelled bag cargo piling de-stacking carloader of the electromechanical integration that a kind of de-stacking loading speed is fast, entrucking work-hours is short, handling workload is little, labour intensity is low and efficiency is high is provided.

For solving the problems of the technologies described above, the technical solution used in the present invention is:

Self-propelled bag cargo piling de-stacking carloader, it comprises remote controller, coder and angular transducer, wherein: it also comprises goods taking device, cargo hoisting device, traveling gear, palletizing apparatus and rotary door frame, goods taking device is contained in the bottom of the picking door frame before rotary door frame and can on picking door frame, moves up and down, palletizing apparatus is arranged on the bottom of rotary door frame piling door frame below and can on piling door frame, moves up and down, rotary door frame is connected with the front end of traveling gear by S. A., cargo hoisting device be contained in traveling gear above, coder is located at the bottom of rotary door frame S. A., angular transducer is located on the swing type mechanism of cargo hoisting device.

Described goods taking device comprises frame, conveying mechanism, blade fin mechanism, piling rushing board mechanism, bridge crossing plate, takes off bag mechanism, Power train, anti-collapse top panel mechanism and sack track adjusting wheel, described conveying mechanism comprises short live roll, short conveying roller, drive sprocket, sprocket shaft, bevel gear wheel, chain tensioner sprocket, three live rolls, several by movable sprocket, rear sprocket wheel, chain and eccentric wheel, eccentric wheel, three live rolls and short live roll are sequentially contained in the following middle part of frame and make three live rolls and the shaft centre line of short live roll (116) and the horizontal angle of frame are 30 °, short conveying roller be located at the back of frame middle and lower part and be positioned at short live roll below and parallel with frame, be located at one side of eccentric wheel and three live rolls by movable sprocket, rear sprocket wheel is located at one side of short live roll, bevel gear wheel and drive sprocket are contained in the back of frame lower by sprocket shaft and are positioned at the back lower place of short live roll, chain is contained in drive sprocket, several by movable sprocket and rear sprocket wheel, chain tensioner sprocket is located on frame bottom surface and is positioned at the front of drive sprocket, described blade fin mechanism be located at frame after, bridge crossing plate is hinged on the back of the left and right blade fin of blade fin mechanism, the both sides of bridge crossing plate are provided with torsion spring, limiting stopper be located at blade fin mechanism left and right blade fin back and be positioned at the below at bridge crossing plate rear portion, upper picking track adjusting wheel is contained in the top of blade fin, and lower picking track adjusting wheel is contained in the bottom of blade fin, described piling rushing board mechanism comprises piling push plate device, piling change gear, push pedal gear, push pedal tooth bar, rushing board mechanism rack slide, push pedal spring, transmission shaft, push pedal magnetic clutch, push pedal sprocket wheel and push pedal chain, described piling push plate device is by push pedal support, push pedal, push pedal limiting stopper and torsion spring form, the upper end of the lower end of push pedal and push pedal support is hinged by hinge, torsion spring is located on hinge and is positioned at the both sides of push pedal support upper end, push pedal limiting stopper is located at the back of push pedal support upper end, piling push plate device is located on the bottom surface of frame and is positioned at the centre of short live roll and short conveying roller, rushing board mechanism rack slide is located at the centre of frame bottom surface, push pedal tooth bar is contained in rushing board mechanism rack slide, push pedal support be arranged on push pedal tooth bar and be positioned at push pedal gear after, push pedal spring is contained in one end of push pedal tooth bar, first piling change gear is contained in one end of sprocket shaft, second piling change gear is contained in one end of first transmission shaft and is meshed with first piling change gear, first push pedal sprocket wheel is located at the other end of first transmission shaft, second push pedal sprocket wheel is located at one end of second transmission shaft, push pedal chain is contained on first push pedal sprocket wheel and second push pedal sprocket wheel, push pedal gear is contained in the other end of second transmission shaft and is meshed with push pedal tooth bar, push pedal magnetic clutch is located at the centre of second transmission shaft, the described bag mechanism of taking off comprises and takes off a bag frame, by active hinge wheel, passive hinge wheel, hinge wheel imput shaft, band attached plate chain, chain guide, sprocket wheel skeleton, iron bar, the chain of rubber block and bolt composition is taken off bagging apparatus and by guide rod, orienting sleeve, gear rack elevating bar, spring, spring orienting sleeve, the chain of spring spacing shim and stepping motor composition is taken off the lifting mechanism of bagging apparatus, described first passive hinge wheel is contained in the front end of sprocket wheel skeleton, second passive hinge wheel be contained on sprocket wheel skeleton and be positioned at first passive hinge wheel after, initiatively hinge wheel is contained in the rear end of sprocket wheel skeleton by hinge wheel imput shaft, initiatively the angle at hinge wheel Zhou center and second passive hinge wheel Zhou center is the dip plane of 150 ° and parallel power conveying roller, band attached plate chain is contained on active hinge wheel and passive hinge wheel, rubber block and iron bar are contained on band attached plate chain by bolt, chain guide leading portion is located between first passive hinge wheel and second passive hinge wheel and is parallel to the ground, and chain guide back segment is located at passive hinge wheel and initiatively between hinge wheel and parallel with three live roll axis, chain is taken off bagging apparatus and is contained in the bottom of taking off bag frame, two guide rods are contained in the both sides of taking off bag frame top, two orienting sleeves are located at respectively on guide rod, between two orienting sleeves, be provided with tooth bar passage, the lower end of gear rack elevating bar through tooth bar passage be located at a spring bracket of taking off bag frame top centre and be connected, spring, spring orienting sleeve and spring spacing shim are sequentially contained on spring bracket, stepping motor is meshed by wheel and rack lifting bar, takes off bag mechanism and be contained in the middle part of frame, the described anti-top panel mechanism that collapses comprises the anti-top board that collapses, pull bar, the anti-top board rack slide of collapsing, the anti-top board tooth bar that collapses, the anti-top board gear that collapses, magnet stopper, top board extension spring, top board transmission shaft, magnetic clutch, top board sprocket wheel and top board chain, the anti-top board that collapses is contained in the front end of frame bottom, one end of pull bar is connected with the anti-top board that collapses, the other end of pull bar is connected with the anti-top board tooth bar one end of collapsing, the anti-top board tooth bar other end that collapses is connected with top board extension spring, magnet stopper, the anti-top board gear that collapses, magnetic clutch and second top board sprocket wheel are sequentially contained on top board transmission shaft and the anti-top board gear that collapses is meshed with the top board tooth bar of preventing collapsing, first top board sprocket wheel is contained on sprocket shaft and is positioned at the inboard of first piling change gear, top board chain is contained on first top board sprocket wheel and second top board sprocket wheel, on the lower side the sentencing in middle part that sack track adjusting wheel symmetry is arranged on framework lateral plate is convenient to horizontal sack to be transformed into vertical sack, Power train comprises the motor with reductor, short pass moving axis, gear, square hole gear, transmission gear, transmission shaft, long pass moving axis, bevel pinion, large cone gear and bevel pinion, the output shaft of the motor with reductor is connected with one end of short pass moving axis, gear is contained in the other end of short pass moving axis, square hole gear is contained in the upper end of transmission shaft and is meshed with gear, bevel pinion is contained in the lower end of transmission shaft, large cone gear is contained in one end of hinge wheel imput shaft and is meshed with bevel pinion, transmission gear is contained in the upper end of long pass moving axis and is meshed with square hole gear, bevel pinion is contained in the lower end of long pass moving axis, bevel gear wheel is contained in the other end of sprocket shaft and is meshed with bevel pinion, with the motor of reductor, short pass moving axis, gear, square hole gear and transmission gear are located at the rear portion of the end face of frame.

Described cargo hoisting device comprises that scissors lifting mechanism, bogie type jib, luffing mechanism and scissors hang fork picking device, bogie type jib is contained on scissors lifting mechanism, luffing mechanism is contained on the crane arm of bogie type jib, and scissors are hung fork picking device and are contained in below luffing mechanism, described scissors lifting mechanism is by being with reductor lifting motor, elevating screw, lifting nut, shearing lifting frame, lift rotary gear ring, rotary support, lifting pinion and hoistway composition, one end of elevating screw be connected with the mouth of reductor lifting motor, lifting nut is contained on elevating screw and with a fulcrum of shearing lifting frame bottom and is connected, rotary support is contained in the upper end of shearing lifting frame, hoistway is contained on the bottom surface of rotary support one side, lift rotary gear ring is contained on rotary support, lifting pinion is contained on the output shaft with reductor turning motor and with lift rotary gear ring and is meshed, described bogie type arm frame is made up of crane arm, equilibrium arm, balance block, band reductor turning motor, tooth bar, cable support, elevator boom rack drag-line and balance jib drag-line, crane arm and equilibrium arm link together, balance block is contained in the afterbody of equilibrium arm, tooth bar is contained on the bottom surface of crane arm, one end of elevator boom rack drag-line and balance jib drag-line is contained on cable support, the other end of elevator boom rack drag-line and balance jib drag-line is connected with crane arm and equilibrium arm respectively, and band reductor turning motor is contained on equilibrium arm, described scissors are hung fork picking device by turning round little gear ring, miniature gears, hook-type is pressed bag arm, hook-type is pressed the extension spring of bag arm, screw mandrel, screw, hang fork, band motor for speed reducer, screw gear, miniature gears, scissors fork device, fork device support and slideway composition, turn round the upper end that little gear ring is contained in fork device support, miniature gears is contained on luffing walking case and with the little gear ring of revolution and is meshed, hang and pitch the lower end that is contained in fork device support, slideway is located at the both sides of fork device support, one end of scissors fork device is located in slideway, fulcrum of the scissors fork device other end with hang fork one end and be connected, the fulcrum that scissors fork device is located at slideway one end is provided with screw, screw is contained on screw mandrel, screw mandrel is contained in slideway, screw gear is contained in one end of screw mandrel, miniature gears is contained on the output shaft with motor for speed reducer and with screw gear and is meshed, hook-type presses bag arm to be contained in fork device support, hook-type is pressed bag arm extension spring to be located in the slideway on fork device support top and to be positioned at hook-type and is pressed below bag arm, described luffing mechanism is made up of luffing walking case and luffing motor, and the output shaft of luffing motor is connected with the input shaft of luffing walking case.

Described traveling gear comprises vehicle frame, the unpowered wheel group of two covers, two cover power car wheels and quadruplet steering hardwarees, the unpowered wheel of two covers is assembled on a pair of linea angulata of vehicle frame bottom surface, two cover dynamic wheels are assembled on another diagonal line of vehicle frame bottom surface, and quadruplet steering hardware is contained in respectively in 4 wheel groups of vehicle frame bottom surface, described unpowered wheel group comprises wheel, axletree, vehicle wheel frame and wheel carrier adapter shaft, and wheel is contained on vehicle wheel frame by axletree, and wheel carrier adapter shaft is contained on the end face of vehicle wheel frame and is connected with vehicle frame, described power car wheels comprise by wheel, the wheel group that axletree and vehicle wheel frame form, bull gear, miniature gears, bevel pinion, large cone gear, transmission shaft, magnetic clutch, worm gear, worm screw, sprocket wheel, chain and band motor for speed reducer, bull gear is contained in a side of wheel, first miniature gears is contained in vehicle wheel frame inner side above and is meshed with bull gear, second miniature gears is contained in vehicle wheel frame outside and is coaxially fitted together with first miniature gears, the 3rd miniature gears is contained in the top in vehicle wheel frame outside and is meshed with second miniature gears, bevel pinion is contained in the top of vehicle wheel frame inner side and is coaxially fitted together with the 3rd miniature gears, large cone gear by drive shaft cartridge on the end face of vehicle wheel frame inner side and be meshed with bevel pinion, magnetic clutch is contained in the upper end of transmission shaft, worm gear is contained on magnetic clutch, worm screw is contained in a side of worm gear, first sprocket wheel is contained in the end of worm screw, second sprocket wheel is contained on the output shaft with motor for speed reducer, and chain is contained on first sprocket wheel and second sprocket wheel, described steering hardware comprises and turns to push pedal, turn to screw body, turn to minor sprocket, turn to hinge wheel, short chain, turn to chain, steering shaft and turn to magnetic clutch, turn to push pedal one end to be contained on vehicle wheel frame by bolt, turn to the shift fork of screw body to be contained in and turn in the inside groove being provided with in the middle of push pedal, first turns to minor sprocket to be contained in the end with motor for speed reducer output shaft, second one end that turns to minor sprocket to be contained in steering shaft, the 3rd turns to minor sprocket to be contained in to turn to the end of screw body screw mandrel, the 4th turns to minor sprocket to be contained in the unpowered end that turns to screw body screw mandrel, turning to chain to be contained in first turns to minor sprocket and second to turn on minor sprocket, first turns to hinge wheel to be contained in the other end of steering shaft, second turns to hinge wheel to be contained on steering shaft and with the 3rd to turn to minor sprocket corresponding, Article 1, short chain is contained in the 4th and turns to minor sprocket and second to turn on hinge wheel, Article 2 short chain is contained in the 3rd and turns to minor sprocket and second to turn on hinge wheel, turning to magnetic clutch to be contained in second turns on hinge wheel and second steering shaft turning between minor sprocket.

Described rotary door frame comprises movable stand and rotation and lifting door frame, described movable stand comprises travelling car, by gear, gear, the rotation door frame rotary power transport sector that gear and gear form, large cone gear, with the motor of reductor, several left and right spacing guide wheel, several upper and lower spacing guide wheels, miniature gears, gear wheel shaft, first magnetic clutch, cone gear, dynamical axis, gear, second magnetic clutch, minor axis, movable stand front-axle hole and tooth bar, travelling car is contained in the front end of traveling gear vehicle frame, left and right spacing guide wheel is contained on four angles of travelling car the right and left, upper and lower spacing guide wheel is contained on four angles on both sides, travelling car front and back, tooth bar be contained in the front of traveling gear vehicle frame and be positioned at travelling car after, gear wheel shaft is contained in one side of travelling car, miniature gears is contained in gear wheel shaft one end and is meshed with tooth bar, first cone gear is contained in the other end of gear wheel shaft, first magnetic clutch is contained on gear wheel shaft and relies on first cone gear, dynamical axis connects with the output shaft of the motor with reductor, first gear is contained in the end of dynamical axis, second cone gear is contained in dynamical axis back and is meshed with first cone gear, second gear is contained in one end of minor axis and is meshed with first gear, the 3rd cone gear is contained in the other end of minor axis, second magnetic clutch is contained on minor axis, large cone gear is contained on the axle that rotates door frame rotary power transport sector gear and is meshed with the 3rd cone gear, described rotation and lifting door frame comprises frame, picking door frame, frame S. A., piling door frame, piling hoisting chain, piling door frame lifting chain, piling door frame track adjusting wheel, piling track adjusting wheel, picking track adjusting wheel, picking door frame track adjusting wheel, picking door frame lifting chain, picking hoisting chain, piling gear, axis, interior axle, anchor shaft, motor output shaft, picking gear, picking miniature gears, the motor of picking band reductor, outer shaft, piling combined wheels, picking combined wheels, the motor of piling band reductor, access door hanger, goods taking device hook, picking hook, piling hook, palletizing apparatus hook and piling door frame hook, described picking door frame be contained in frame front and can lifting in frame, piling door frame be contained in frame back and can lifting in frame, frame S. A. is located at the centre of frame bottom surface, goods taking device be arranged in picking door frame bottom and can be in the lifting of picking door frame, palletizing apparatus be arranged in piling door frame bottom and can be in the lifting of piling door frame, picking door frame track adjusting wheel is contained in the upper end in two outsides, frame front, picking track adjusting wheel is contained on the end face of picking door frame, piling door frame track adjusting wheel is contained in the upper end in two outsides, frame back, piling track adjusting wheel is contained on the end face of piling door frame, anchor shaft is contained in respectively the bottom in the middle of frame two outsides, by outer shaft, bearing, axis, the built-up shaft that little bearing and interior axle form is contained in the bottom in the middle of frame and is positioned at the below of anchor shaft, first piling combined wheels and first picking combined wheels are contained on the first anchor shaft, second piling combined wheels and second picking combined wheels are contained on the second anchor shaft, two ends and piling gear that piling gear is contained in axis are meshed with the gear of first piling combined wheels, piling gear is meshed with the gear of second piling combined wheels, picking gear is contained in the two ends of interior axle, picking gear is meshed with the gear of first picking combined wheels, picking gear is meshed with the gear of second picking combined wheels, the motor of picking band reductor is contained in below frame one side centre and is positioned at the top of anchor shaft, the motor of piling band reductor is contained in below frame opposite side centre and is positioned at the top of anchor shaft, one end of first motor output shaft is contained in the delivery orifice of motor of picking band reductor, picking miniature gears is contained in the other end of first motor output shaft and is meshed with the gear of first picking combined wheels, one end of second motor output shaft is contained in the delivery orifice of motor of piling band reductor, piling miniature gears is contained in the other end of second motor output shaft and is meshed with the gear of second piling combined wheels, article two, one end of picking door frame lifting chain is separately fixed on the sprocket wheel of first picking combined wheels and second picking combined wheels, article two, the other end of picking door frame lifting chain is connected with the access door hanger that is contained in picking door frame bottom by picking door frame track adjusting wheel, article two, one end of picking hoisting chain is connected with the goods taking device hook above being contained in goods taking device, and the other end of picking hoisting chain is connected with the picking hook being contained on the end face of frame front by picking track adjusting wheel, article two, one end of piling door frame lifting chain is separately fixed on the sprocket wheel of first piling combined wheels and second piling combined wheels, article two, the other end of piling door frame lifting chain is connected with the piling door frame hook that is contained in piling door frame bottom by piling door frame track adjusting wheel, article two, one end of piling hoisting chain is connected with the palletizing apparatus hook above being contained in palletizing apparatus, and the other end of two piling hoisting chains is connected with the piling hook being contained on the end face of frame back by piling track adjusting wheel.

Because the present invention has adopted technique scheme, solve that the de-stacking loading speed that existing Palletizer exists is slow, entrucking longevity of service, handling workload is large, labour intensity is high and inefficient technical matters.Compared with background technology, the present invention has that de-stacking loading speed is fast, entrucking work-hours is short, handling workload is little, labour intensity is low, efficiency is high and the advantage such as entrucking accurate measurement.

Accompanying drawing explanation

Fig. 1 is structural representation of the present invention;

Fig. 2 is the structural representation of goods taking device;

Fig. 3 is the structural representation of conveying mechanism in goods taking device;

Fig. 4 is the structural representation of piling rushing board mechanism and the anti-top panel mechanism that collapses;

Fig. 5 is the structural representation of piling push plate device;

Fig. 6 is the structural representation of cargo hoisting device;

Fig. 7 is the structural representation of traveling gear and movable stand;

Fig. 8 is the upward view that saves movable stand in Fig. 7;

Fig. 9 is the structural representation of travelling car;

Figure 10 is the structural representation of palletizing apparatus;

Figure 11 is the structural representation of rotation and lifting door frame;

Figure 12 is the right elevation of Figure 11.

The specific embodiment

As shown in Figure 1, self-propelled bag cargo piling de-stacking carloader in the present embodiment, it comprises remote controller 6, coder 7 and angular transducer 8, wherein: it also comprises goods taking device 1, cargo hoisting device 2, traveling gear 3, palletizing apparatus 4 and rotary door frame 5, goods taking device 1 is contained in the bottom of rotary door frame 5 picking door frame above and can in picking door frame, moves up and down, palletizing apparatus 4 is arranged on the bottom of rotary door frame 5 piling door frame below and can in piling door frame, moves up and down, rotary door frame 5 is connected with the front end of traveling gear 3 by S. A., cargo hoisting device 2 be contained in traveling gear 3 above, coder 7 is located at the bottom of rotary door frame 5 S. A.s, angular transducer 8 is located on the swing type mechanism of cargo hoisting device 2.

As shown in Fig. 2, Fig. 3, Fig. 4 and Fig. 5, described goods taking device comprises frame 132, conveying mechanism, blade fin mechanism 121, piling rushing board mechanism, bridge crossing plate 117, takes off bag mechanism, Power train, anti-collapse top panel mechanism and sack track adjusting wheel 159, described conveying mechanism comprises short live roll 116,

short conveying roller

120, 122, drive sprocket 124, sprocket shaft 125, bevel gear wheel 126, chain tensioner sprocket 127, three

live rolls

129, 131, 136, several by movable sprocket 133, rear sprocket wheel 160, chain 130 and eccentric wheel 135, eccentric wheel 135, three

live rolls

129, 131, 136 and short live roll 116 be sequentially contained in the following middle part of frame 132 and make three

live rolls

129, 131, 136 and the shaft centre line of short live roll 116 and the horizontal angle of frame 132 be 30 °,

short conveying roller

120, 122 be located at the back of frame 132 middle and lower parts and be positioned at short live roll 116 below and parallel with frame 132, be located at eccentric wheel 135 and three live rolls 129 by movable sprocket 133, 131, one side of 136, rear sprocket wheel 160 is located at one side of short live roll 116, and bevel gear wheel 126 and drive sprocket 124 are contained in the back of frame 132 bottoms by sprocket shaft 125 and are positioned at the back lower place of short live roll 116, and chain 130 is contained in drive sprocket 124, several by movable sprocket 133 and rear sprocket wheel 160, chain tensioner sprocket 127 is located on frame 132 bottom surfaces and is positioned at the front of drive sprocket 124, described blade fin mechanism 121 be located at frame 132 after, bridge crossing plate 117 is hinged on the back of the left and right blade fin of blade fin mechanism 121, the both sides of bridge crossing plate 117 are provided with torsion spring 118, limiting stopper 119 be located at blade fin mechanism 121 left and right blade fin back and be positioned at the below at bridge crossing plate 117 rear portions, upper picking track adjusting wheel 112 is contained in the top of blade fin, and lower picking track adjusting wheel 115 is contained in the bottom of blade fin, described piling rushing board mechanism comprises piling push plate device 128,

piling change gear

162, 163, push pedal gear 176, push pedal tooth bar 179, rushing board mechanism rack slide 165, push pedal spring 180,

transmission shaft

164, 183, push pedal magnetic clutch 181, push

pedal sprocket wheel

188, 182 and push pedal chain 184, described piling push plate device 128 is by push pedal support 167, push pedal 168, push pedal limiting stopper 169 and torsion spring 170 form, the upper end of the lower end of push pedal 168 and push pedal support 167 is hinged by hinge, torsion spring 170 is located on hinge and is positioned at the both sides of push pedal support 167 upper ends, push pedal limiting stopper 169 is located at the back of push pedal support 167 upper ends, piling push plate device 128 is located on the bottom surface of frame 132 and is positioned at short live roll 116 and

short conveying roller

120, 122 centre, rushing board mechanism rack slide 165 is located at the centre of frame 132 bottom surfaces, push pedal tooth bar 179 is contained in rushing board mechanism rack slide 165, push pedal support 167 be arranged on push pedal tooth bar 179 and be positioned at push pedal gear 176 after, push pedal spring 180 is contained in one end of push pedal tooth bar 179, first piling change gear 162 is contained in one end of sprocket shaft 125, second piling change gear 163 is contained in one end of first transmission shaft 164 and is meshed with first piling change gear 162, first push pedal sprocket wheel 188 is located at the other end of first transmission shaft 164, second push pedal sprocket wheel 182 is located at one end of second transmission shaft 183, push pedal chain 184 is contained on first push pedal sprocket wheel 188 and second push pedal sprocket wheel 182, push pedal gear 176 is contained in the other end of second transmission shaft 183 and is meshed with push pedal tooth bar 179, push pedal magnetic clutch 181 is located at the centre of second transmission shaft 183, the described bag mechanism of taking off comprises and takes off bag frame 146, by active hinge wheel 113, passive hinge wheel 137, 145, hinge wheel imput shaft 114, band attached plate chain 141, chain guide 142, sprocket wheel skeleton 143, iron bar 140, the chain that rubber block 139 and bolt 138 form is taken off bagging apparatus and by guide rod 148, 156, orienting sleeve 151, 155, gear rack elevating bar 154, spring 149, spring orienting sleeve 108, 109, spring spacing shim 110, 147 and the chain that forms of stepping motor 101 take off the lifting mechanism of bagging apparatus, described first passive hinge wheel 137 is contained in the front end of sprocket wheel skeleton 143, second passive hinge wheel 145 be contained on sprocket wheel skeleton 143 and be positioned at first passive hinge wheel 137 after, initiatively hinge wheel 113 is contained in the rear end of sprocket wheel skeleton 143 by hinge wheel imput shaft 114, initiatively hinge wheel 113Zhou center and the angle at second passive hinge wheel 145Zhou center are the dip plane of 150 ° and parallel power conveying roller, and band attached plate chain 141 is contained in active hinge wheel 113 and passive hinge wheel 137, on 145, rubber block 139 and iron bar 140 are contained on band attached plate chain 141 by bolt 138, chain guide 142 leading portions are located between first passive hinge wheel 137 and second passive hinge wheel 145 and are parallel to the ground, chain guide 142 back segments be located at passive hinge wheel 145 and initiatively between hinge wheel 113 and with three

live rolls

129, 131, 136 axis are parallel, chain is taken off bagging apparatus and is contained in the bottom of taking off bag frame 146, two guide rods 148,156 are contained in the both sides of taking off bag frame 146 tops, two orienting sleeves 151,155 are located at respectively on guide rod 148,156, between two orienting sleeves 151,155, be provided with tooth bar passage 153, the lower end of gear rack elevating bar 154 through tooth bar passage 153 be located at the spring bracket 171 of taking off bag frame 146 crowns center and be connected, spring 149, spring orienting sleeve 108,109 and spring spacing shim 110,147 are sequentially contained on spring bracket 171, stepping motor 101 is meshed by wheel and rack lifting bar 154, takes off bag mechanism and be contained in the middle part of frame 132, the described anti-top panel mechanism that collapses comprises the anti-top board 134 that collapses, pull bar 177, the anti-top board rack slide 178 of collapsing, the anti-top board tooth bar 174 that collapses, the anti-top board gear 175 that collapses, magnet stopper 173, top board extension spring 166, top board transmission shaft 172, magnetic clutch 186, top

board sprocket wheel

161, 185 and top board chain 187, the anti-top board 134 that collapses is contained in the front end of frame 132 bottoms, one end of pull bar 177 is connected with the anti-top board 134 that collapses, the other end of pull bar 177 is connected with anti-top board tooth bar 174 one end of collapsing, anti-top board tooth bar 174 other ends that collapse are connected with top board extension spring 166, magnet stopper 173, the anti-top board gear 175 that collapses, magnetic clutch 186 and second top board sprocket wheel 185 are sequentially contained on top board transmission shaft 172 and the anti-top board gear 175 that collapses is meshed with the top board tooth bar 174 of preventing collapsing, first top board sprocket wheel 161 is contained on sprocket shaft 125 and is positioned at the inboard of first piling change gear 162, and top board chain 187 is contained on first top board sprocket wheel 161 and second top board sprocket wheel 185, on the lower side the sentencing in middle part that sack track adjusting wheel 159 symmetries are arranged on framework lateral plate 150 is convenient to horizontal sack to be transformed into vertical sack, Power train comprises the motor 102 with reductor, short pass moving axis 103, gear 104, square hole gear 105, transmission gear 106, transmission shaft 107, long pass moving axis 111, bevel pinion 158, large cone gear 157 and bevel pinion 123, the output shaft of the motor 102 with reductor is connected with one end of short pass moving axis 103, gear 104 is contained in the other end of short pass moving axis 103, square hole gear 105 is contained in the upper end of transmission shaft 107 and is meshed with gear 104, bevel pinion 158 is contained in the lower end of transmission shaft 107, large cone gear 157 is contained in one end of hinge wheel imput shaft 114 and is meshed with bevel pinion 158, transmission gear 106 is contained in the upper end of long pass moving axis 111 and is meshed with square hole gear 105, bevel pinion 123 is contained in the lower end of long pass moving axis 111, bevel gear wheel 126 is contained in the other end of sprocket shaft 125 and is meshed with bevel pinion 123, the motor 102 with reductor, short pass moving axis 103, gear 104, square hole gear 105 and transmission gear 106 are located at the rear portion of the end face of frame 132.

As shown in Figure 6, described cargo hoisting device comprises that scissors lifting mechanism, bogie type jib, luffing mechanism and scissors hang fork picking device, bogie type jib is contained on scissors lifting mechanism, luffing mechanism is contained on the crane arm 212 of bogie type jib, and scissors are hung fork picking device and are contained in below luffing mechanism, described scissors lifting mechanism is by being with reductor lifting motor 201, elevating screw 202, lifting nut 203, shearing lifting frame 204, lift rotary gear ring 205, rotary support 206, lifting pinion 207 and hoistway 227 form, one end of elevating screw 202 be connected with the mouth of reductor lifting motor 201, lifting nut 203 is contained on elevating screw 202 and with a fulcrum of shearing lifting frame 204 bottoms and is connected, rotary support 206 is contained in the upper end of shearing lifting frame 204, hoistway 227 is contained on the bottom surface of rotary support 206 1 sides, lift rotary gear ring 205 is contained on rotary support 206, lifting pinion 207 is contained on the output shaft with reductor turning motor 210 and with lift rotary gear ring 205 and is meshed, described bogie type arm frame is by crane arm 212, equilibrium arm 208, balance block 209, band reductor turning motor 210, tooth bar 215, cable support 231, elevator boom rack drag-line 213 and balance jib drag-line 211 form, crane arm 212 links together with equilibrium arm 208, balance block 209 is contained in the afterbody of equilibrium arm 208, tooth bar 215 is contained on the bottom surface of crane arm 212, one end of elevator boom rack drag-line 213 and balance jib drag-line 211 is contained on cable support 231, the other end of elevator boom rack drag-line 213 and balance jib drag-line 211 is connected with crane arm 212 and equilibrium arm 208 respectively, band reductor turning motor 210 is contained on equilibrium arm 208, described scissors are hung fork picking device by turning round little gear ring 217, miniature gears 222, hook-type is pressed bag arm 218, hook-type is pressed bag arm extension spring 219, screw mandrel 220, screw 229, hang fork 221, band motor for speed reducer 223, screw gear 225, miniature gears 224, scissors fork device 226, fork device support 230 and slideway 228 form, turn round the upper end that little gear ring 217 is contained in fork device support 230, miniature gears 222 is contained on luffing walking case 216 and with the little gear ring 217 of revolution and is meshed, hang the lower end that fork 221 is contained in fork device support 230, slideway 228 is located at the both sides of fork device support 230, one end of scissors fork device 226 is located in slideway 228, fulcrum of scissors fork device 226 other ends with hang fork 221 one end and be connected, the fulcrum that scissors fork device 226 is located at slideway 228 one end is provided with screw 229, screw 229 is contained on screw mandrel 220, screw mandrel 220 is contained in slideway 228, screw gear 225 is contained in one end of screw mandrel 220, miniature gears 224 is contained on the output shaft with motor for speed reducer 223 and with screw gear 225 and is meshed, hook-type presses bag arm 218 to be contained in fork device support 230, hook-type is pressed bag arm extension spring 219 to be located in the slideway 228 on fork device support 230 tops and to be positioned at hook-type and is pressed below bag arm 218, described luffing mechanism is made up of luffing walking case 216 and luffing motor 214, and the output shaft of luffing motor 214 is connected with the input shaft of luffing walking case 216.

As shown in Figure 7, Figure 8 and Figure 9, described traveling gear comprises vehicle frame 356, the unpowered wheel group of two covers, two cover power car wheels and quadruplet steering hardwarees, the unpowered wheel of two covers is assembled on a pair of linea angulata of vehicle frame 356 bottom surfaces, two cover dynamic wheels are assembled on another diagonal line of vehicle frame 356 bottom surfaces, and quadruplet steering hardware is contained in respectively in 4 wheel groups of vehicle frame 356 bottom surfaces, described unpowered wheel group comprises wheel 322, axletree 323, vehicle wheel frame 324 and wheel carrier adapter shaft 357, and wheel 322 is contained on vehicle wheel frame 324 by axletree 323, and wheel carrier adapter shaft 357 is contained on the end face of vehicle wheel frame 324 and is connected with vehicle frame 356, described power car wheels comprise by wheel, the wheel group that axletree and vehicle wheel frame form, bull gear 327,

miniature gears

328, 329, 330, bevel pinion 332, large cone gear 331, transmission shaft 333, magnetic clutch 302, worm gear 301, worm screw 303, sprocket wheel 304, 305, chain 306 and band motor for speed reducer 307, bull gear 327 is contained in a side of wheel, first miniature gears 328 is contained in vehicle wheel frame inner side above and is meshed with bull gear 327, second miniature gears 329 is contained in vehicle wheel frame outside and is coaxially fitted together with first miniature gears 328, the 3rd miniature gears 330 is contained in the top in vehicle wheel frame outside and is meshed with second miniature gears 329, bevel pinion 332 is contained in the top of vehicle wheel frame inner side and is coaxially fitted together with the 3rd miniature gears 330, large cone gear 331 is contained on the end face of vehicle wheel frame inner side and is meshed with bevel pinion 332 by transmission shaft 333, magnetic clutch 302 is contained in the upper end of transmission shaft 333, worm gear 301 is contained on magnetic clutch 302, worm screw 303 is contained in a side of worm gear 301, first sprocket wheel 305 is contained in the end of worm screw 303, second sprocket wheel 304 is contained on the output shaft with motor for speed reducer 307, chain 306 is contained on first sprocket wheel 305 and second sprocket wheel 304, described steering hardware comprises and turns to push pedal 320, turn to screw body 318, 359, turn to

minor sprocket

308, 312, 315, 317, turn to hinge wheel 310, 313, short chain 309, 319, turn to chain 316, steering shaft 311 and turn to magnetic clutch 314, turn to push pedal 320 one end to be contained on vehicle wheel frame 324 by bolt 325, turn to the shift fork 358 of screw body 318 to be contained in and turn in the inside groove being provided with in the middle of push pedal 320, first turns to minor sprocket 317 to be contained in the end with motor for speed reducer 307 output shafts, second one end that turns to minor sprocket 315 to be contained in steering shaft 311, the 3rd turns to minor sprocket 312 to be contained in the end that turns to screw body 318 screw mandrels, the 4th turns to minor sprocket 308 to be contained in the unpowered end that turns to screw body 359 screw mandrels, turning to chain 316 to be contained in first turns to minor sprocket 317 and second to turn on minor sprocket 315, first turns to hinge wheel 310 to be contained in the other end of steering shaft 311, second turns to hinge wheel 313 to be contained on steering shaft 311 and with the 3rd to turn to minor sprocket 312 corresponding, Article 1, short chain 309 is contained in the 4th and turns to minor sprocket 308 and second to turn on hinge wheel 310, Article 2 short chain 319 is contained in the 3rd and turns to minor sprocket 312 and second to turn on hinge wheel 313, turning to magnetic clutch 314 to be contained in second turns on hinge wheel 313 and second steering shaft 311 turning between minor sprocket 315.

As shown in Fig. 7, Fig. 9, Figure 10, Figure 11 and Figure 12, described rotary door frame comprises movable stand and rotation and lifting door frame, described movable stand comprises travelling car 334, by gear 335, gear 336, the rotation door frame rotary power transport sector that gear 337 and gear 338 form, large cone gear 339, motor 340 with reductor, several left and right spacing guide wheel 341, several upper and lower spacing guide wheels 342, miniature gears 343, gear wheel shaft 344, first magnetic clutch 345, cone gear 346, 347, 353, dynamical axis 348, gear 349, 350, second magnetic clutch 351, minor axis 352, movable stand front-axle hole 354 and tooth bar 355, travelling car 334 is contained in the front end of traveling gear vehicle frame 356, left and right spacing guide wheel 341 is contained on four angles of travelling car 334 the right and lefts, upper and lower spacing guide wheel 342 is contained on four angles on travelling car 334 both sides, front and back, tooth bar 355 be contained in the front of traveling gear vehicle frame 356 and be positioned at travelling car 334 after, gear wheel shaft 344 is contained in one side of travelling car 334, miniature gears 343 is contained in gear wheel shaft 344 one end and is meshed with tooth bar 355, first cone gear 346 is contained in the other end of gear wheel shaft 344, first magnetic clutch 345 is contained on gear wheel shaft 344 and relies on first cone gear 346, dynamical axis 348 connects with the output shaft of the motor 340 with reductor, first gear 349 is contained in the end of dynamical axis 348, second cone gear 347 is contained in dynamical axis 348 back and is meshed with first cone gear 346, second gear 350 is contained in one end of minor axis 352 and is meshed with first gear 349, the 3rd cone gear 353 is contained in the other end of minor axis 352, second magnetic clutch 351 is contained on minor axis 352, large cone gear 339 is contained on the axle that rotates door frame rotary power transport sector gear 338 and is meshed with the 3rd cone gear 353, rotation and lifting door frame is contained on the upper shaft hole 354 of travelling car 334 fronts settings, described rotation and lifting door frame comprises frame 504, picking door frame 501, frame S. A. 502, piling door frame 503, piling hoisting chain 505, piling door frame lifting chain 506, piling door frame track adjusting wheel 507, piling track adjusting wheel 508, picking track adjusting wheel 509, picking door frame track adjusting wheel 510, picking door frame lifting chain 511, picking hoisting chain 512,

piling gear

513, 527, axis 515, interior axle 516,

anchor shaft

518, 529,

motor output shaft

519, 532,

picking gear

517, 526, picking miniature gears 520, the motor 521 of picking band reductor, outer shaft 522, piling combined

wheels

524, 528, picking combined

wheels

525, 530, the motor 533 of piling band reductor, access door hanger 534, goods taking device hook 535, picking hook 536, piling hook 537, palletizing apparatus hook 403 and piling door frame hook 539, described picking door frame 501 be contained in frame 504 front and can lifting in frame 504, piling door frame 503 be contained in frame 504 back and can lifting in frame 504, frame S. A. 502 is located at the centre of frame 504 bottom surfaces, goods taking device 1 be arranged in picking door frame 501 bottom and can be in the lifting of picking door frame, palletizing apparatus 4 be arranged in piling door frame 503 bottom and can be in the lifting of piling door frame, picking door frame track adjusting wheel 510 is contained in the upper end in two outsides, frame 504 front, picking track adjusting wheel 509 is contained on the end face of picking door frame 501, piling door frame track adjusting wheel 507 is contained in the upper end in two outsides, frame 504 back, piling track adjusting wheel 508 is contained on the end face of piling door frame 503,

anchor shaft

518, 529 are contained in respectively the bottom in the middle of 504 liang of outsides of frame, by outer shaft 522, bearing 523, axis 515, the built-up shaft that little bearing 514 and interior axle 516 form is contained in the bottom in the middle of frame 504 and is positioned at

anchor shaft

518, 529 below, first piling combined wheels 524 and first picking combined wheels 525 are contained on the first anchor shaft 518, second piling combined wheels 528 and second picking combined wheels 530 are contained on the second anchor shaft 529,

piling gear

513, 527 two ends and the piling gears 513 that are contained in axis 515 are meshed with the gear of first piling combined wheels 524, piling gear 527 is meshed with the gear of second piling combined wheels 528, picking

gear

517, 526 are contained in the two ends of interior axle 516, picking gear 517 is meshed with the gear of first picking combined wheels 525, picking gear 526 is meshed with the gear of second picking combined wheels 530, the motor 521 of picking band reductor is contained in below frame 504 1 sides centres and is positioned at the top of anchor shaft 518, the motor 533 of piling band reductor is contained in below frame 504 opposite sides centres and is positioned at the top of anchor shaft 529, one end of first motor output shaft 519 is contained in the delivery orifice of motor 521 of picking band reductor, picking miniature gears 520 is contained in the other end of first motor output shaft 519 and is meshed with the gear of first picking combined wheels 525, one end of second motor output shaft 532 is contained in the delivery orifice of motor 533 of piling band reductor, piling miniature gears 531 is contained in the other end of second motor output shaft 532 and is meshed with the gear of second piling combined wheels 528, article two, one end of picking door frame lifting chain 511 is separately fixed on the sprocket wheel of first picking combined wheels 525 and second picking combined wheels 530, article two, the other end of picking door frame lifting chain 511 is connected with the access door hanger 534 that is contained in picking door frame bottom by picking door frame track adjusting wheel 510, article two, one end of picking hoisting chain 512 is connected with the goods taking device hook 535 above being contained in goods taking device, and the other end of picking hoisting chain 512 is connected with the picking hook 536 being contained on frame 504 front end faces by picking track adjusting wheel 509, article two, one end of piling door frame lifting chain 506 is separately fixed on the sprocket wheel of first piling combined wheels 524 and second piling combined wheels 528, article two, the other end of piling door frame lifting chain 506 is connected with the piling door frame hook 539 that is contained in piling door frame bottom by piling door frame track adjusting wheel 507, article two, one end of piling hoisting chain 505 is connected with the palletizing apparatus hook 403 above being contained in palletizing apparatus, and the other end of two piling hoisting chains 505 is connected with the piling hook 537 being contained on frame 504 back end faces by piling track adjusting wheel 508.

As shown in figure 10, palletizing apparatus comprises piling frame 401, conveying roller 402, palletizing apparatus hook 403, wheel 404 and lower railway wheel 405 get on the right track, conveying roller 402 be contained in piling frame 401 above, get on the right track wheel 404 and lower railway wheel 405 is contained in the both sides of piling frame 401 1 sides, and palletizing apparatus hook 403 is located in piling frame 401 and is positioned at the front of the wheel 404 that gets on the right track.

Working process of the present invention is:

The first step: first connect external connection power power lead, then pick up industrial remote controller.

Second: entrucking quantity of goods is input to entrucking parameter form in touch-screen, then presses acknowledgement key.

The 3rd: the keyboard Designing of remote controller comprises: program initialization start key, manual/auto picking options button, rapid stop key, it comprises picking set direction key: (car body) front picking key, (car body) left side picking key, (car body) right side picking key.Lifting key comprises: the key that hoists, decline key, left-hand rotation key, right-hand rotation key.Fork key comprises: extract key, fork reset key.The car body key that travels: comprise straight-line travelling key, the key that advances, back spacer, cross running key, left-handed adjustment key, key is adjusted in dextrorotation.Other are adjusted key and design at touch-screen.Press straight-line travelling key, pressing the key that advances, it is mobile that car body plays trend Bag Material buttress, in movement, repeatedly travels and left and rightly tune whole key control and adjust car body attitude by lower body, and car body continues to advance to Bag Material buttress.Automatically stop when the X-axis sensor device before picking mechanism detects Bag Material buttress aftercarriage, picking set direction, generally should select left side picking key, presses left side picking key, and front Mobile rotary lifting door frame anticlockwise 90 is spent.Select car body left-handed key that travels to press pressing next step, car body wheel XianCheng 45 spends then car body and starts rotation, then press cross running key, pressing the key that advances, X-axis sensor device before picking mechanism detects that the Bag Material buttress aftercarriage mechanism's lifting motor that automatically stops starts automatically, X-axis sensor coordinates picking mechanism to hoist, and in the time that X-axis sensor can't detect Bag Material buttress, picking lifting motor stops.At this moment car body recovers walking forward, when detecting chemical fertilizer aftercarriage, Z axis sensor enters the pattern of going slowly, the picking mechanism of picking lifting motor reversion simultaneously starts to decline, in the time that Z axis detects that the upper plan range of Bag Material buttress reaches setpoint distance, picking lifting motor stops declining and finishes, car body continues to move ahead, when X-axis sensor detects that fertilizer bag distance reaches setpoint distance aftercarriage and automatically stops.

The 4th: enter mode of operation, press picking automatic key, mode of operation is that program schema is without manual intervention, concrete pattern setting is stepping motor, picking motor starts simultaneously, the anti-top board that collapses is opened, after stepping motor starting, taking off bagging apparatus declines, detecting picking current of electric transmitter starts working, in the time reaching transmitter setup parameter, taking off rubber flap on bag mechanism chain utilizes friction force very soon chemical fertilizer to be moved, first mobile fertilizer bag enters motion eccentric roller, eccentric roller send fertilizer bag to conveying roller, at this moment feeding correct detection sensor 60 detects chemical fertilizer and whether can enter feeding mechanism by machine, if can continue, if can not stop by picking motor, stepping motor reverses car body to the right or is moved to the left adjustment, after meeting spout to enter requirement, program continues to carry out, under upper rubber link plate and lower roller combined action, fertilizer bag enters and in spout, thoroughly leaves Bag Material and piled up neatly whole de-stacking process.Carrying out the while above, stacking mechanism has also started rise detection track and localization with crossing software inhouse, finally stops picking mechanism rear portion.Fertilizer bag moves middle collision at conveying roller and overwhelms piling push pedal, then just wash bridge crossing plate open by piling push pedal, bridge crossing plate is opened backward fertilizer bag and is moved by entering on piling roller subsequently, just move while soon stopping at sack, piling push pedal is started and is started working in that moment, its push pedal pushes away at sack rear portion very strong, and sack stops at ideal position, and bridge crossing plate resets under torsion spring effect subsequently; Stepping motor reversion resets; Piling push pedal also resets under extension spring effect.Thereby complete a de-stacking and piling working cycle.

The 5th step: program starting Z axis sensor measuring ability, the picking lifting motor picking mechanism that starts to reverse declines, and stops in the time reaching setpoint distance.Program automatically enters the 4th step mode and is not certainly pressing after this no longer narration of automatic button with hand.Through constantly repeat a cocycle to ground last two bags time the Z axis pattern detecting sensor top board that stops simultaneously preventing collapsing reset, but impact is not awarded in the 4th step program execution.

The 6th step: in the time that piling chemical fertilizer reaches setting value on stacking mechanism, it is automatically got back to initial position wait lifting and gets on the bus; Front picking mechanism also quits work simultaneously.

The 7th step: complete when program detects piling operation, send lifting instruction at once, first scissors lifting mechanism electric motor starting, lifting jib at the uniform velocity rises, it stops after reaching setting value automatically, scissors fork device electric motor starting subsequently, fork is retracted, the starting of luffing mechanism gear case motor, scissors fork device starts to shift to fertilizer bag overhead, it stops after reaching setting value, next step scissors lifting mechanism motor reversal reaches setting value to be stopped, the hook arm that lifting arm decline scissors are hung on fork picking device is pressed onto on fertilizer bag, program is sent scissors fork device electric motor starting fork and is stretched out, stretching out prong just in time pitches between piling roller space.Completing after prong program lifting motor at the uniform velocity rises it at this starting arm frame and is raised to for the first time and rises and highly stop.Auto-programming completes; The now front picking mechanism state of resuming work.

The 8th step: manual process starts, press the left-handed button of crane arm, swing type mechanism electric motor starting arm is towards automobile stop direction rotation, stop the rotation in appropriate location, automobile manger overhead, press crane arm decline button scissor lift motor reversal, crane arm starts to decline, the adjustment attitude of can stopping in decline process, method is to press hang the fork left-handed button of picking device or press and hang fork picking device dextrorotation button, and starting luffing gear case motor carries out rotating and adjusts chemical fertilizer discharge location.After discharge location adjustment, decline until hang fork picking device and fall on automobile manger floor and stop at this starting arm.Fork button is pressed in final step, and scissors fork device electric motor starting fork is retracted, and a buttress chemical fertilizer is steadily put in automobile manger.

The 9th step: press hoisting and hanging reset button, hoisting mechanism resets to initial position and waits for the beginning of next time working.

Claims

1. a self-propelled bag cargo piling de-stacking carloader, it comprises remote controller, coder and angular transducer, it is characterized in that: it also comprises goods taking device, cargo hoisting device, traveling gear, palletizing apparatus and rotary door frame, goods taking device is contained in the bottom of the picking door frame before rotary door frame and can on picking door frame, moves up and down, palletizing apparatus is arranged on the bottom of rotary door frame piling door frame below and can on piling door frame, moves up and down, being connected of the front end of rotary door frame by S. A. and traveling gear, cargo hoisting device be contained in traveling gear above, coder is located at the bottom of rotary door frame S. A., angular transducer is located on the swing type mechanism of cargo hoisting device.

2. self-propelled bag cargo piling de-stacking carloader according to claim 1, is characterized in that: described goods taking device comprises frame (132), conveying mechanism, blade fin mechanism (121), piling rushing board mechanism, bridge crossing plate (117), takes off bag mechanism, Power train, anti-collapse top panel mechanism and sack track adjusting wheel (159), described conveying mechanism comprises short live roll (116), short conveying roller (120, 122), drive sprocket (124), sprocket shaft (125), bevel gear wheel (126), chain tensioner sprocket (127), three live rolls (129, 131, 136), several by movable sprocket (133), rear sprocket wheel (160), chain (130) and eccentric wheel (135), eccentric wheel (135), three live rolls (129, 131, 136) and short live roll (116) be sequentially contained in the following middle part of frame (132) and make three live rolls (129, 131, 136) and the horizontal angle of the shaft centre line of short live roll (116) and frame (132) be 30 °, short conveying roller (120, 122) be located at the back of frame (132) middle and lower part and be positioned at short live roll (116) below and parallel with frame (132), be located at eccentric wheel (135) and three live rolls (129 by movable sprocket (133), 131, 136) one side, rear sprocket wheel (160) is located at one side of short live roll (116), bevel gear wheel (126) and drive sprocket (124) are contained in the back of frame (132) bottom by sprocket shaft (125) and are positioned at the back lower place of short live roll (116), and chain (130) is contained in drive sprocket (124), several upper by movable sprocket (133) and rear sprocket wheel (160), chain tensioner sprocket (127) is located on frame (132) bottom surface and is positioned at the front of drive sprocket (124), described blade fin mechanism (121) be located at frame (132) after, bridge crossing plate (117) is hinged on the back of the left and right blade fin of blade fin mechanism (121), the both sides of bridge crossing plate (117) are provided with torsion spring (118), limiting stopper (119) be located at blade fin mechanism (121) left and right blade fin back and be positioned at the below at bridge crossing plate (117) rear portion, upper picking track adjusting wheel (112) is contained in the top of blade fin, and lower picking track adjusting wheel (115) is contained in the bottom of blade fin, described piling rushing board mechanism comprises piling push plate device (128), piling change gear (162, 163), push pedal gear (176), push pedal tooth bar (179), rushing board mechanism rack slide (165), push pedal spring (180), transmission shaft (164, 183), push pedal magnetic clutch (181), push pedal sprocket wheel (188, 182) and push pedal chain (184), described piling push plate device (128) is by push pedal support (167), push pedal (168), push pedal limiting stopper (169) and torsion spring (170) form, the upper end of the lower end of push pedal (168) and push pedal support (167) is hinged by hinge, torsion spring (170) is located on hinge and is positioned at the both sides of push pedal support (167) upper end, push pedal limiting stopper (169) is located at the back of push pedal support (167) upper end, piling push plate device (128) is located on the bottom surface of frame (132) and is positioned at short live roll (116) and short conveying roller (120, 122) centre, rushing board mechanism rack slide (165) is located at the centre of frame (132) bottom surface, push pedal tooth bar (179) is contained in rushing board mechanism rack slide (165), push pedal support (167) be arranged on push pedal tooth bar (179) go up and be positioned at push pedal gear (176) after, push pedal spring (180) is contained in one end of push pedal tooth bar (179), first piling change gear (162) is contained in one end of sprocket shaft (125), second piling change gear (163) is contained in one end of first transmission shaft (164) and is meshed with first piling change gear (162), first push pedal sprocket wheel (188) is located at the other end of first transmission shaft (164), second push pedal sprocket wheel (182) is located at one end of second transmission shaft (183), push pedal chain (184) is contained on first push pedal sprocket wheel (188) and second push pedal sprocket wheel (182), push pedal gear (176) is contained in the other end of second transmission shaft (183) and is meshed with push pedal tooth bar (179), push pedal magnetic clutch (181) is located at the centre of second transmission shaft (183), the described bag mechanism of taking off comprises and takes off a bag frame (146), by active hinge wheel (113), passive hinge wheel (137, 145), hinge wheel imput shaft (114), band attached plate chain (141), chain guide (142), sprocket wheel skeleton (143), iron bar (140), the chain of rubber block (139) and bolt (138) composition is taken off bagging apparatus and by guide rod (148, 156), orienting sleeve (151, 155), gear rack elevating bar (154), spring (149), spring orienting sleeve (108, 109), spring spacing shim (110, 147) and the chain of stepping motor (101) composition take off the lifting mechanism of bagging apparatus, described first passive hinge wheel (137) is contained in the front end of sprocket wheel skeleton (143), second passive hinge wheel (145) be contained in sprocket wheel skeleton (143) go up and be positioned at first passive hinge wheel (137) after, initiatively hinge wheel (113) is contained in the rear end of sprocket wheel skeleton (143) by hinge wheel imput shaft (114), initiatively hinge wheel (113) Zhou center and the angle at second passive hinge wheel (145) Zhou center are the dip plane of 150 ° and parallel power conveying roller, and band attached plate chain (141) is contained in active hinge wheel (113) and passive hinge wheel (137, 145) on, rubber block (139) and iron bar (140) are contained on band attached plate chain (141) by bolt (138), chain guide (142) leading portion is located between first passive hinge wheel (137) and second passive hinge wheel (145) and is parallel to the ground, chain guide (142) back segment be located between passive hinge wheel (145) and active hinge wheel (113) and with three live rolls (129, 131, 136) axis is parallel, chain is taken off bagging apparatus and is contained in the bottom of taking off a bag frame (146), two guide rods (148, 156) be contained in the both sides of taking off a bag frame (146) top, two orienting sleeves (151, 155) be located at respectively guide rod (148, 156) on, two orienting sleeves (151, 155) between, be provided with tooth bar passage (153), the lower end of gear rack elevating bar (154) through tooth bar passage (153) be located at the spring bracket (171) of taking off a bag frame (146) crown center and be connected, spring (149), spring orienting sleeve (108, 109) and spring spacing shim (110, 147) be sequentially contained on spring bracket (171), stepping motor (101) is meshed by wheel and rack lifting bar (154), take off the middle part that bag mechanism is contained in frame (132), the described anti-top panel mechanism that collapses comprises the anti-top board (134) that collapses, pull bar (177), the anti-top board rack slide (178) of collapsing, the anti-top board tooth bar (174) that collapses, the anti-top board gear (175) that collapses, magnet stopper (173), top board extension spring (166), top board transmission shaft (172), magnetic clutch (186), top board sprocket wheel (161, 185) and top board chain (187), the anti-top board (134) that collapses is contained in the front end of frame (132) bottom, one end of pull bar (177) is connected with the anti-top board (134) that collapses, the other end of pull bar (177) is connected with anti-top board tooth bar (174) one end of collapsing, anti-top board tooth bar (174) other end that collapses is connected with top board extension spring (166), magnet stopper (173), the anti-top board gear (175) that collapses, magnetic clutch (186) and second top board sprocket wheel (185) are sequentially contained in top board transmission shaft (172) above and the anti-top board gear (175) that collapses is meshed with the anti-top board tooth bar (174) that collapses, first top board sprocket wheel (161) is contained in sprocket shaft (125) above and is positioned at the inboard of first piling change gear (162), top board chain (187) is contained on first top board sprocket wheel (161) and second top board sprocket wheel (185), on the lower side the sentencing in middle part that sack track adjusting wheel (159) symmetry is arranged on framework lateral plate (150) is convenient to horizontal sack to be transformed into vertical sack, Power train comprises the motor (102) with reductor, short pass moving axis (103), gear (104), square hole gear (105), transmission gear (106), transmission shaft (107), long pass moving axis (111), bevel pinion (158), large cone gear (157) and bevel pinion (123), the output shaft of the motor (102) with reductor is connected with one end of short pass moving axis (103), gear (104) is contained in the other end of short pass moving axis (103), square hole gear (105) is contained in the upper end of transmission shaft (107) and is meshed with gear (104), bevel pinion (158) is contained in the lower end of transmission shaft (107), large cone gear (157) is contained in one end of hinge wheel imput shaft (114) and is meshed with bevel pinion (158), transmission gear (106) is contained in the upper end of long pass moving axis (111) and is meshed with square hole gear (105), bevel pinion (123) is contained in the lower end of long pass moving axis (111), bevel gear wheel (126) is contained in the other end of sprocket shaft (125) and is meshed with bevel pinion (123), motor (102) with reductor, short pass moving axis (103), gear (104), square hole gear (105) and transmission gear (106) are located at the rear portion of the end face of frame (132).

3. self-propelled bag cargo piling de-stacking carloader according to claim 1, it is characterized in that: described cargo hoisting device comprises that scissors lifting mechanism, bogie type jib, luffing mechanism and scissors hang fork picking device, bogie type jib is contained on scissors lifting mechanism, luffing mechanism is contained on the crane arm (212) of bogie type jib, and scissors are hung fork picking device and are contained in below luffing mechanism, described scissors lifting mechanism is by being with reductor lifting motor (201), elevating screw (202), lifting nut (203), shearing lifting frame (204), lift rotary gear ring (205), rotary support (206), lifting pinion (207) and hoistway (227) composition, one end of elevating screw (202) is connected with the mouth of band reductor lifting motor (201), lifting nut (203) is contained in elevating screw (202) above and is connected with a fulcrum of shearing lifting frame (204) bottom, rotary support (206) is contained in the upper end of shearing lifting frame (204), hoistway (227) is contained on the bottom surface of rotary support (206) one sides, lift rotary gear ring (205) is contained on rotary support (206), lifting pinion (207) is contained on the output shaft of being with reductor turning motor (210) and is meshed with lift rotary gear ring (205), described bogie type arm frame is by crane arm (212), equilibrium arm (208), balance block (209), band reductor turning motor (210), tooth bar (215), cable support (231), elevator boom rack drag-line (213) and balance jib drag-line (211) composition, crane arm (212) links together with equilibrium arm (208), balance block (209) is contained in the afterbody of equilibrium arm (208), tooth bar (215) is contained on the bottom surface of crane arm (212), one end of elevator boom rack drag-line (213) and balance jib drag-line (211) is contained on cable support (231), the other end of elevator boom rack drag-line (213) and balance jib drag-line (211) is connected with crane arm (212) and equilibrium arm (208) respectively, band reductor turning motor (210) is contained on equilibrium arm (208), described scissors are hung fork picking device by turning round little gear ring (217), miniature gears (222), hook-type is pressed bag arm (218), hook-type is pressed bag arm extension spring (219), screw mandrel (220), screw (229), hang fork (221), band motor for speed reducer (223), screw gear (225), miniature gears (224), scissors fork device (226), fork device support (230) and slideway (228) composition, turn round the upper end that little gear ring (217) is contained in fork device support (230), miniature gears (222) is contained in luffing walking case (216) above and is meshed with the little gear ring of revolution (217), hang fork (221) and be contained in the lower end of fork device support (230), slideway (228) is located at the both sides of fork device support (230), one end of scissors fork device (226) is located in slideway (228), fulcrum of scissors fork device (226) other end with hang fork (221) one end and be connected, the fulcrum that scissors fork device (226) is located at slideway (228) one end is provided with screw (229), screw (229) is contained on screw mandrel (220), screw mandrel (220) is contained in slideway (228), screw gear (225) is contained in one end of screw mandrel (220), miniature gears (224) is contained on the output shaft of being with motor for speed reducer (223) and is meshed with screw gear (225), hook-type presses bag arm (218) to be contained in fork device support (230), hook-type is pressed bag arm extension spring (219) to be located in the slideway (228) on fork device support (230) top and is positioned at hook-type and presses below bag arm (218), described luffing mechanism is made up of walk case (216) and luffing motor (214) of luffing, and the output shaft of luffing motor (214) is connected with the input shaft of luffing walking case (216).

4. self-propelled bag cargo piling de-stacking carloader according to claim 1, it is characterized in that: described traveling gear comprises vehicle frame (356), the unpowered wheel group of two covers, two cover power car wheels and quadruplet steering hardwarees, the unpowered wheel of two covers is assembled on a pair of linea angulata of vehicle frame (356) bottom surface, two cover dynamic wheels are assembled on another diagonal line of vehicle frame (356) bottom surface, and quadruplet steering hardware is contained in respectively in 4 wheel groups of vehicle frame (356) bottom surface, described unpowered wheel group comprises wheel (322), axletree (323), vehicle wheel frame (324) and wheel carrier adapter shaft (357), it is upper that wheel (322) is contained in vehicle wheel frame (324) by axletree (323), and wheel carrier adapter shaft (357) is contained on the end face of vehicle wheel frame (324) and is connected with vehicle frame (356), described power car wheels comprise by wheel, the wheel group that axletree and vehicle wheel frame form, bull gear (327), miniature gears (328, 329, 330), bevel pinion (332), large cone gear (331), transmission shaft (333), magnetic clutch (302), worm gear (301), worm screw (303), sprocket wheel (304, 305), chain (306) and band motor for speed reducer (307), bull gear (327) is contained in a side of wheel, first miniature gears (328) is contained in vehicle wheel frame inner side above and is meshed with bull gear (327), second miniature gears (329) is contained in vehicle wheel frame outside and is coaxially fitted together with first miniature gears (328), the 3rd miniature gears (330) is contained in the top in vehicle wheel frame outside and is meshed with second miniature gears (329), bevel pinion (332) is contained in the top of vehicle wheel frame inner side and is coaxially fitted together with the 3rd miniature gears (330), large cone gear (331) is contained on the end face inside vehicle wheel frame and is meshed with bevel pinion (332) by transmission shaft (333), magnetic clutch (302) is contained in the upper end of transmission shaft (333), worm gear (301) is contained on magnetic clutch (302), worm screw (303) is contained in a side of worm gear (301), first sprocket wheel (305) is contained in the end of worm screw (303), second sprocket wheel (304) is contained on the output shaft of band motor for speed reducer (307), chain (306) is contained on first sprocket wheel (305) and second sprocket wheel (304), described steering hardware comprises and turns to push pedal (320), turn to screw body (318, 359), turn to minor sprocket (308, 312, 315, 317), turn to hinge wheel (310, 313), short chain (309, 319), turn to chain (316), steering shaft (311) and turn to magnetic clutch (314), turn to push pedal (320) one end to be contained on vehicle wheel frame (324) by bolt (325), turn to the shift fork (358) of screw body (318) to be contained in and turn in the inside groove being provided with in the middle of push pedal (320), first turns to minor sprocket (317) to be contained in the end of band motor for speed reducer (307) output shaft, second one end that turns to minor sprocket (315) to be contained in steering shaft (311), the 3rd turns to minor sprocket (312) to be contained in the end that turns to screw body (318) screw mandrel, the 4th turns to minor sprocket (308) to be contained in the unpowered end that turns to screw body (359) screw mandrel, turning to chain (316) to be contained in first turns to minor sprocket (317) and second to turn on minor sprocket (315), first turns to hinge wheel (310) to be contained in the other end of steering shaft (311), second turns to hinge wheel (313) be contained in steering shaft (311) above and turn to minor sprocket (312) corresponding with the 3rd, Article 1, short chain (309) is contained in the 4th and turns to minor sprocket (308) and second to turn on hinge wheel (310), Article 2 short chain (319) is contained in the 3rd and turns to minor sprocket (312) and second to turn on hinge wheel (313), turning to magnetic clutch (314) to be contained in second turns on hinge wheel (313) and second steering shaft (311) turning between minor sprocket (315).

5. self-propelled bag cargo piling de-stacking carloader according to claim 1, is characterized in that: described rotary door frame comprises movable stand and rotation and lifting door frame, described movable stand comprises travelling car (334), by gear (335), gear (336), the rotation door frame rotary power transport sector that gear (337) and gear (338) form, large cone gear (339), motor (340) with reductor, several left and right spacing guide wheels (341), several upper and lower spacing guide wheels (342), miniature gears (343), gear wheel shaft (344), first magnetic clutch (345), cone gear (346, 347, 353), dynamical axis (348), gear (349, 350), second magnetic clutch (351), minor axis (352), movable stand front-axle hole (354) and tooth bar (355), travelling car (334) is contained in the front end of traveling gear vehicle frame (356), left and right spacing guide wheel (341) is contained on four angles of travelling car (334) the right and left, upper and lower spacing guide wheel (342) is contained on four angles on both sides, travelling car (334) front and back, tooth bar (355) be contained in the front of traveling gear vehicle frame (356) and be positioned at travelling car (334) after, gear wheel shaft (344) is contained in one side of travelling car (334), miniature gears (343) is contained in gear wheel shaft (344) one end and is meshed with tooth bar (355), first cone gear (346) is contained in the other end of gear wheel shaft (344), first magnetic clutch (345) is contained in gear wheel shaft (344) above and relies on first cone gear (346), dynamical axis (348) connects with the output shaft of the motor (340) with reductor, first gear (349) is contained in the end of dynamical axis (348), second cone gear (347) is contained in dynamical axis (348) back and is meshed with first cone gear (346), second gear (350) is contained in one end of minor axis (352) and is meshed with first gear (349), the 3rd cone gear (353) is contained in the other end of minor axis (352), second magnetic clutch (351) is contained on minor axis (352), large cone gear (339) is contained on the axle that rotates door frame rotary power transport sector gear (338) and is meshed with the 3rd cone gear (353), described rotation and lifting door frame comprises frame (504), picking door frame (501), frame S. A. (502), piling door frame (503), piling hoisting chain (505), piling door frame lifting chain (506), piling door frame track adjusting wheel (507), piling track adjusting wheel (508), picking track adjusting wheel (509), picking door frame track adjusting wheel (510), picking door frame lifting chain (511), picking hoisting chain (512), piling gear (513, 527), axis (515), interior axle (516), anchor shaft (518, 529), motor output shaft (519, 532), picking gear (517, 526), picking miniature gears (520), the motor (521) of picking band reductor, outer shaft (522), piling combined wheels (524, 528), picking combined wheels (525, 530), the motor (533) of piling band reductor, access door hanger (534), goods taking device hook (535), picking hook (536), piling hook (537), palletizing apparatus hook (403) and piling door frame hook (539), described picking door frame (501) be contained in frame (504) front and can lifting in frame (504), piling door frame (503) be contained in frame (504) back and can lifting in frame (504), frame S. A. (502) is located at the centre of frame (504) bottom surface, goods taking device (1) be arranged in picking door frame (501) bottom and can be in the lifting of picking door frame, palletizing apparatus (4) be arranged in piling door frame (503) bottom and can be in the lifting of piling door frame, picking door frame track adjusting wheel (510) is contained in the upper end in two outsides, frame (504) front, picking track adjusting wheel (509) is contained on the end face of picking door frame (501), piling door frame track adjusting wheel (507) is contained in the upper end in two outsides, frame (504) back, piling track adjusting wheel (508) is contained on the end face of piling door frame (503), anchor shaft (518, 529) be contained in respectively middle bottom, frame (504) two outsides, by outer shaft (522), bearing (523), axis (515), the built-up shaft that little bearing (514) and interior axle (516) form is contained in the bottom in the middle of frame (504) and is positioned at anchor shaft (518, 529) below, first piling combined wheels (524) and first picking combined wheels (525) are contained on the first anchor shaft (518), second piling combined wheels (528) and second picking combined wheels (530) are contained on the second anchor shaft (529), piling gear (513, 527) two ends and the piling gear (513) that are contained in axis (515) are meshed with the gear of first piling combined wheels (524), piling gear (527) is meshed with the gear of second piling combined wheels (528), picking gear (517, 526) be contained in the two ends of interior axle (516), picking gear (517) is meshed with the gear of first picking combined wheels (525), picking gear (526) is meshed with the gear of second picking combined wheels (530), the motor (521) of picking band reductor is contained in below frame (504) one sides centres and is positioned at the top of anchor shaft (518), the motor (533) of piling band reductor is contained in below frame (504) opposite side centre and is positioned at the top of anchor shaft (529), one end of first motor output shaft (519) is contained in the delivery orifice of motor (521) of picking band reductor, picking miniature gears (520) is contained in the other end of first motor output shaft (519) and is meshed with the gear of first picking combined wheels (525), one end of second motor output shaft (532) is contained in the delivery orifice of motor (533) of piling band reductor, piling miniature gears (531) is contained in the other end of second motor output shaft (532) and is meshed with the gear of second piling combined wheels (528), article two, one end of picking door frame lifting chain (511) is separately fixed on the sprocket wheel of first picking combined wheels (525) and second picking combined wheels (530), article two, the other end of picking door frame lifting chain (511) is connected with the access door hanger (534) that is contained in picking door frame bottom by picking door frame track adjusting wheel (510), article two, one end of picking hoisting chain (512) is connected with the goods taking device hook (535) above being contained in goods taking device, the other end of picking hoisting chain (512) is connected with the picking hook (536) being contained on the end face of frame (504) front by picking track adjusting wheel (509), article two, one end of piling door frame lifting chain (506) is separately fixed on the sprocket wheel of first piling combined wheels (524) and second piling combined wheels (528), article two, the other end of piling door frame lifting chain (506) is connected with the piling door frame hook (539) that is contained in piling door frame bottom by piling door frame track adjusting wheel (507), article two, one end of piling hoisting chain (505) is connected with the palletizing apparatus hook (403) above being contained in palletizing apparatus, article two, the other end of piling hoisting chain (505) is connected with the piling hook (537) being contained on the end face of frame (504) back by piling track adjusting wheel (508).