CN106882607A - A kind of same batch of automatic loading system for piling up multiple material bags - Google Patents
A kind of same batch of automatic loading system for piling up multiple material bags Download PDFInfo
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- CN106882607A CN106882607A CN201710129395.9A CN201710129395A CN106882607A CN 106882607 A CN106882607 A CN 106882607A CN 201710129395 A CN201710129395 A CN 201710129395A CN 106882607 A CN106882607 A CN 106882607A
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- Prior art keywords
- vertical
- drive
- automatic loading
- component
- multiple material
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention discloses a kind of same batch of automatic loading system for piling up multiple material bags, with the supporting installation of track set along railway carriage depth direction, palletizing mechanical arm and the control system of control automatic loading system work including being slidably mounted on the mainframe of front/rear movement on track, on mainframe, it is characterised in that：Set in the mainframe and material bag is transmitted from feeding end to the band transmission mechanism at stacking end；The palletizing mechanical arm lower end rotatable connection one is multi-shaft interlocked, will be captured with the multiple material bags on transmission mechanism and be moved to specified position of piling up discharges the rotating suction disc component piled up.Rotating suction disc component is once captured to multiple material bags, moved, piled up in the present invention, while multi-shaft interlocked realize accurate, the quick, automatic loading of non-blind area.
Description
Technical field
It is a kind of same batch of automatic loading system for piling up multiple material bags specifically the present invention relates to conveying equipment field
System.
Background technology
Powder material is generally carried out into the laggard luggage car shipping of packed packaging, current entrucking in building materials, metallurgy, chemical industry
This entrucking operation is mainly still relied on and manually carried.From workshop be transported to the powder material of packed packaging by workman
During railway carriage carries out entrucking, in the environment largely spread in dust, easily trigger the correlation of the respiratory systems such as pneumoconiosis
Disease, not only brings greatly harm to the physical and mental health of workman, returns practitioner family and brings white elephant, is defended according to country
Life portion counts professional case in 2014 for 27240 wherein pneumoconiosis account for 90.2%.State-level has attracted great attention,《State
Administration of Security Supervision of family is on strengthening the powder processing enterprise dust harzard controls such as cement manufacture and stone material》File " peace
Prison is total healthy (2013) No. 112 ", issue each provinces, autonomous regions and municipalities and Xinjiang production and construction soldier in 14 parts of November in 2013
Security production supervision and management office of group.A large amount of airborne dusts are produced to ask during the entrucking entrucking of the powder material for how solving packed packaging
Topic, has also triggered paying close attention to for industry.
Current automatic loading system is a lot, but palletizing mechanical arm underaction, causes palletizing mechanical arm to capture material bag and exists
Inefficiency when being piled up in railway carriage；On the other hand, existing automatic loading system can only once carry out a code for material bag
Put, also cause operating efficiency effectively to be lifted.
The content of the invention
It is an object of the invention to provide a kind of same batch of automatic loading system for piling up multiple material bags, one is that can be grabbed with criticizing
Multiple material bags are taken while being piled up, two is that the delivery end of the palletizing mechanical arm for capturing material bag can be any in working region
Coordinate carries out the regulation of any drift angle, and palletizing mechanical arm movement is flexible and can carry out quick regulation according to railway carriage position, effectively keeps away
Exempt from the problem of entrucking blind area.
The present invention is achieved through the following technical solutions：A kind of same batch of automatic loading system for piling up multiple material bags, with edge
Railway carriage depth direction set the supporting installation of track, including be slidably mounted on the mainframe of front/rear movement on track, installed in master
Palletizing mechanical arm and the control system of control automatic loading system work in frame, are set material bag in the mainframe from upper
Transmit to the band transmission mechanism at stacking end at material end；Palletizing mechanical arm lower end rotatable connection one is multi-shaft interlocked, will be with transmission
Multiple material bags in mechanism capture and are moved to specify piles up the rotating suction disc component that position release is piled up.
Automatic loading system connection of the present invention provides hydraulic power source, pneumatic source, the electronic source of power source.The main frame
Frame can drive band transmission mechanism, palletizing mechanical arm, rotating suction disc component together along the front/rear movement of track, and band transmission mechanism is from upper
Material is terminated into material bag and is delivered to discharging end, while the rotating suction disc component installed in palletizing mechanical arm lower end is multi-shaft interlocked simultaneously
Multiple material bags can be flexibly captured from discharging end and specified location release stacking is quickly moved to, the essence of multiple material bags is realized
Accurate, quick, non-blind area automatic loading.
When carrying out automatic loading using automatic loading system of the present invention：
Stop to after specified entrucking region after the lorry of entrucking, control system is according to railway carriage coordinate, railway carriage physical dimension for recognizing etc.
Information order about drive band transmission mechanism, palletizing mechanical arm, rotating suction disc component with the mainframe of the supporting installation of track together with along rail
The front/rear movement in road is to carry out Primary Location, while control system is calculated and records the drift angle of railway carriage main shaft and track, carries out automatic
Entrucking prepares；
Then, a bag connects the material bag of a bag and is continuously entered from feeding end and be transported to stacking end, code by band transmission mechanism
Stack machine tool hand-motion rotating suction disc component movement is captured multiple material bags by rotating suction disc component, and exist again simultaneously to stacking end
Stacking is discharged after specified location is moved under the drive of palletizing mechanical arm, piling up for multiple material bags is completed once；Repeat above-mentioned
Action, completes the automatic loading of whole material bags.
Automatic loading is carried out using automatic loading system of the present invention, as long as changing rotating suction disc component crawl material
Grasp force during bag（Suction）The different material bag of Unit Weight, such as cement bag, river sand bag, flour bag etc. are applicable to,
Realize quick, accurate stacking.The gas circuit of the rotating suction disc component is connected with vacuum plant, its operation principle be prior art and
Improvement of the invention does not lie in this, therefore repeats no more.
The collection of the information such as railway carriage coordinate, railway carriage physical dimension, material package location, the action of all parts are equal in the present invention
Realized by control system, but main improvement of the invention is executing agency and does not lie in control system, therefore control system is not
Repeated.On the other hand, all parts action needs external connection power source in the present invention, is not also repeated.
In order to preferably realize the present invention, further, the band transmission mechanism includes downward-sloping setting and from feeding end
The oblique belt of splicing and carry out the whole turn-up mechanism of centralized integration at stacking end positioned at stacking end and by multiple material bags.
In the present invention, the material bag for wrapping transmission from oblique belt one is integrated at whole turn-up mechanism, multiple material bags
Neat and consistent is put and waits the crawl of rotating suction disc component.Normal conditions multiple material bag rectangular array, also may be used certainly
To carry out the arrangement of other forms according to actual conditions.
In order to preferably realize the present invention, further, the whole turn-up mechanism includes that what is be sequentially arranged stops foreskin band, the first horizontal stroke
Roll assembly, the second barrel roll component, horizontal pushing mechanism and the sensing material bag being pushed into from the first barrel roll component on the second barrel roll component
Material package location and feed back to control system stop bag induction installation, the first barrel roll component and the second barrel roll component transmission direction are hung down
Directly；The horizontal pushing mechanism includes the pusher drive device of fixed installation and is connected to the scraping wings of reasoning drive device output end.
In the present invention, the rectangular array arrangement at whole turn-up mechanism of multiple material bags farthest coordinates entrucking railway carriage
Structure, make full use of railway carriage space.In the present invention, single bag material bag is dropped into after stopping foreskin band, waits subsequent material bag shape
Enter the first barrel roll component together into single group material bag, then be laterally pushed into multiple material bags together by the scraping wings of horizontal pushing mechanism
Second barrel roll component waits the crawl of rotating suction disc component.Rotating suction disc component to the single group material bag on the second barrel roll component or
Person carries out crawl simultaneously by multigroup material bag that multiple single group material bags are constituted, and effectively improves automatic loading efficiency.
In order to preferably realize the present invention, further, the first barrel roll component, the second barrel roll component include multiple respectively
Be arranged in parallel, for transmit barrel roll.
On the first roll of scraping wings distance component on working face or the second roll component working face exist 2-5 millimeters away from
From preventing abnormal friction, extension device service life.
In order to preferably realize the present invention, further, the palletizing mechanical arm includes being arranged on mainframe and with shifting
The driving mechanism of moving frame and the telescopic arm on movable stand；The rotating suction disc component is rotatably mounted on the bottom of telescopic arm
And the movable stand that the telescopic arm by telescopic adjustment moves linearly with two axles is connected.
Telescopic arm and rotating suction disc component is front/rear under the drive of movable stand together, left/right Biaxial linear is moved in the present invention
It is dynamic.
In order to preferably realize the present invention, further, the telescopic arm includes the fixed mount and expansion link of flexible connection；Institute
State sucker rotating turret of the rotating suction disc component including sucker unit, assembly drive means, connection expansion link and rotating suction disc component；
The sucker rotating turret include be fixedly mounted on expansion link bottom fixed support portion and with fixed support portion rotate be connected turn
Rotation connection, the assembly drive means on expansion link drive rotating junction and installed in rotation by rotating junction
Sucker unit on connecting portion is integrally rotated together.
In the present invention, the rotating suction disc component just up/down rectilinear movement under telescopic arm its expansion link drive, while further
, in the structure of telescopic arm bottom itself rotation regulation drift angle, rotating suction disc component can be according to automatic loading for open rotating suction disc component
The railway carriage main shaft obtained during preparation compensates drift angle regulation with the drift angle of track so that the material bag of crawl is straight with railway carriage,
Neat piles up.
Further, the Suction cup assembly includes that multiple sucker units and sucker for corresponding setting with material bag drive dress
Put, the sucker drive device on assembly support drives the independent rotary motion of sucker unit for corresponding and setting.Also
It is to say, including the rotating suction disc component of multiple sucker units can be adjusted with integral-rotation, while each sucker unit can also be single
Solely rotation regulation.
In order to preferably realize the present invention, further, the sucker unit is by being fixedly mounted on rotating junction
Sucker mounting bracket is installed；The sucker mounting bracket include set adjustment chute adjustment plate, through adjustment chute and can adjust
The adjusting lever slid laterally in chute, the adjustment block being slidably mounted on adjusting lever；A pair of the adjustment block and sucker unit 1
Should connect.
In order to preferably realize the present invention, further, the driving mechanism is included along track longitudinally disposed vertical bearing, horizontal stroke
To the cross bearers of two vertical bearings of leap, the vertical shift drive device being fixedly mounted on cross bearer, it is movably arranged on cross bearer
Movable stand, the cross sliding driving device being fixedly mounted on movable stand；The output end of the cross sliding driving device is by traversing group
Part is connected with cross bearer, and movable stand left/right transverse shifting is driven by cross sliding driving device；The vertical shift drive device it is defeated
Go out end to be connected with vertical bearing by vertical shift component, cross bearer, cross sliding driving device, movable stand are driven by vertical shift drive device
It is front/rear together to vertically move.
In order to preferably realize the present invention, further, the cross sliding driving device include be connected with each other traversing motor and
Traversing reductor, the traversing component includes being arranged on the horizontal drive gear of traversing its output end of reductor and is fixedly mounted on horizontal branch
Horizontal drive tooth bar on seat, horizontal drive gear orders about horizontal drive gear with horizontal drive tooth bar intermeshing, traversing motor by traversing reductor
The gear motion on horizontal drive tooth bar；The vertical shift drive device includes the vertical shift motor and vertical shift reductor that are connected with each other, described
Vertical shift component includes being arranged on the vertical drive shaft coupling of its output end of vertical shift reductor, indulges and drive extension rod, indulge to drive gear and fix and pacify
The vertical drive tooth bar engaged on vertical bearing and with vertical drive gear, vertical shift motor passes sequentially through vertical drive shaft coupling, vertical drive extension rod
Order about the vertical gear that drives and drive gear motion on tooth bar vertical.
In order to preferably realize the present invention, further, the suction of dust collection mechanism and dust collection mechanism is also installed on the mainframe
Dirt mouthful is corresponding with band transmission mechanism blanking end position.
The present invention compared with prior art, with advantages below and beneficial effect：
（1）The present invention can once carry out the crawl of multiple material bags, movement, pile up by rotating suction disc component, and efficiency is substantially carried
Rise；
（2）Mainframe in the present invention, mechanical arm drive lower rotation Suction cup assembly multi-shaft interlocked so that crawl, mobile, determining of piling up
Level really, be swift in motion, can make full use of railway carriage space, realize it is quick, precisely, the automatic loading of non-blind area.
Brief description of the drawings
Fig. 1 is the structural representation of automatic loading system.
Fig. 2 is the structural representation docked with transmission mechanism, whole turn-up mechanism.
Fig. 3 is the structural representation of driving mechanism.
Fig. 4 is structure enlarged diagram at A in Fig. 3.
Fig. 5 is structure enlarged diagram at B in Fig. 3.
Fig. 6 is the structural representation of traversing guiding convex portion set location.
Fig. 7 is the structural representation of palletizing mechanical arm and the rotating suction disc component being connected.
Fig. 8 is structure enlarged diagram at A in Fig. 7.
Fig. 9 is rotating suction disc component and sucker rotating turret attachment structure schematic diagram.
Figure 10 is structure enlarged diagram at B in Fig. 9.
Figure 11 is rotating suction disc component overlooking the structure diagram.
Figure 12 is with the use state schematic diagram for criticizing the automatic loading system for piling up multiple material bags.
Wherein：1st, mainframe；2nd, driving mechanism；21st, bearing is indulged；211st, straight guide；22nd, cross bearer；23rd, movable stand；
231st, traversing guiding convex portion；24th, vertical shift drive device；25th, cross sliding driving device；261st, horizontal drive gear；262nd, horizontal drive tooth bar；
271st, indulge and drive shaft coupling；272nd, indulge and drive extension rod；273rd, indulge and drive gear；274th, indulge and drive tooth bar；28th, intermediate support；3rd, telescopic arm；
31st, fixed mount；32nd, expansion link；4th, rotating suction disc component；401st, sucker unit；41st, fixed support portion；42nd, rotating junction；
43rd, pivoted frame transmission component；44th, pivoted frame motor；45th, adjustment plate；46th, adjusting lever；47th, adjustment block；471st, guide post；48、
First fixture；5th, band transmission mechanism；6th, whole turn-up mechanism；61st, foreskin band is stopped；62nd, the first barrel roll component；63rd, the second barrel roll group
Part；64th, horizontal pushing mechanism；7th, dust collection mechanism；001st, track；002nd, vacuum plant；003rd, hydraulic pump.
Specific embodiment
The present invention is described in further detail with reference to embodiment, but embodiments of the present invention not limited to this.
It is to be appreciated that term " longitudinal direction ", " transverse direction ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ",
The orientation or position relationship of the instruction such as " top ", " bottom ", " interior ", " outward " are, based on orientation shown in the drawings or position relationship, to be only
Described with simplified for the ease of the description present invention, must be with specific side rather than the device or element for indicating or imply meaning
Position, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Embodiment 1：
The present embodiment it is a kind of with the automatic loading system for batch piling up multiple material bags, as shown in figure 1, with along railway carriage depth direction
The supporting installation of track of setting, including it is slidably mounted on the mainframe 1 of front/rear movement on track, the stacking on mainframe 1
Manipulator and the control system of control automatic loading system work, set in the mainframe 1 and material bag are transmitted from feeding end
To the band transmission mechanism 5 at stacking end；Palletizing mechanical arm lower end rotatable connection one is multi-shaft interlocked, will be with transmission mechanism 5
Multiple material bags capture and be moved to specify and pile up the rotating suction disc component 4 piled up of position release.
As shown in figure 1, the palletizing mechanical arm includes being arranged on mainframe 1 and with 23 driving mechanism 2 and installation
Telescopic arm 3 on 23；The rotating suction disc component 4 is rotatably mounted on the bottom of telescopic arm 3 and by the flexible of telescopic adjustment
The movable stand 23 that arm 3 moves linearly with two axles is connected.
As shown in figure 3, the telescopic arm 3 includes the fixed mount and expansion link of flexible connection；The rotating suction disc component 4 is wrapped
Include the sucker rotating turret of sucker unit 401, assembly drive means, connection expansion link and rotating suction disc component 4；The sucker is rotated
Frame includes being fixedly mounted on the fixed support portion 41 of expansion link bottom and the rotating junction being connected with the rotation of fixed support portion 41
42, the assembly drive means on expansion link drive rotating junction 42 and installed in the company of rotation by rotating junction 42
The entirety of sucker unit 401 in socket part 42 is rotated together.
As shown in Fig. 7, Fig. 9, the Suction cup assembly include it is multiple corresponded with material bag the sucker units 401 that set and
Sucker drive device, the sucker drive device on assembly support drives the sucker unit 401 for corresponding setting independent
Rotary motion.That is, the rotating suction disc component 4 including multiple sucker units 401 can be adjusted with integral-rotation, while each
Sucker unit 401 can also individually rotate regulation.
As shown in figure 3, the driving mechanism 2 is included along the longitudinally disposed vertical bearing 21 of track, laterally across two vertical branch
The cross bearer 22 of seat 21, the vertical shift drive device 24 being fixedly mounted on cross bearer 22, the shifting being movably arranged on cross bearer 22
Moving frame 23, the cross sliding driving device 25 being fixedly mounted on 23；The output end of the cross sliding driving device 25 passes through traversing component
It is connected with cross bearer 22,23 left/right transverse shiftings is driven by cross sliding driving device 25；The vertical shift drive device 24 it is defeated
Go out end to be connected with vertical bearing 21 by vertical shift component, cross bearer 22, cross sliding driving device is driven by vertical shift drive device 24
25th, 23 front/rear together vertically move.
In the present embodiment, the automatic loading system multiaxis drives：
First, mainframe 1 carries out front/rear linear motion along track；
2nd, in driving mechanism 2 the left/right of movable stand 23 transverse direction, the linear motion of front/rear longitudinal direction two；
3rd, the expansion link of telescopic arm 3 moves along a straight line relative to fixed mount up/down；
4th, rotating suction disc component 4 is relative to expansion link rotary motion；
5th, the independent rotary motion (optional) of single sucker unit 401.
Automatic loading system connection of the present invention provides hydraulic power source, pneumatic source, the electronic source of power source, such as Fig. 1 institutes
Show, power source includes vacuum plant 002, hydraulic pump 003；As shown in Fig. 2 the mainframe 1 can drive band transmission mechanism 5, code
, together along the front/rear movement of track, band transmission mechanism 5 is terminated into material bag and conveyed from feeding for pile manipulator, rotating suction disc component 4
To discharging end, while the rotating suction disc component 4 installed in palletizing mechanical arm lower end is multi-shaft interlocked and can flexibly be captured from discharging end
Multiple material bags are simultaneously quickly moved to specified location release stacking, realize that accurate, quick, the non-blind area of multiple material bags are filled automatically
Car.
When carrying out automatic loading using automatic loading system of the present invention：
Stop to after specified entrucking region after the lorry of entrucking, control system is according to railway carriage coordinate, railway carriage physical dimension for recognizing etc.
Information order about drive band transmission mechanism 5, palletizing mechanical arm, rotating suction disc component 4 with the mainframe 1 of the supporting installation of track together with edge
The front/rear movement of track is to carry out Primary Location, while control system is calculated and records the drift angle of railway carriage main shaft and track, carries out certainly
Dynamic entrucking prepares；
Then, a bag connects the material bag of a bag and is continuously entered from feeding end and be transported to stacking end, code by band transmission mechanism 5
Stack machine tool hand-motion rotating suction disc component 4 moves to stacking end, captures multiple material bags simultaneously by rotating suction disc component 4, and again
Stacking is discharged after being moved to specified location under the drive of palletizing mechanical arm, piling up for multiple material bags is completed once；In repetition
Action is stated, the automatic loading of whole material bags is completed.
Embodiment 2：
In the present embodiment, illustrated so that rotating suction disc component 4 once captures four material bags of rectangular array as an example.
A kind of same batch of automatic loading system for piling up multiple material bags, with the supporting peace of track set along railway carriage depth direction
Dress, including be slidably mounted on front/rear movement on track mainframe 1, on mainframe 1 palletizing mechanical arm and control it is automatic
The control system of loading system work, sets the band that material bag is transmitted to stacking end from feeding end and transmits in the mainframe 1
Mechanism 5；Palletizing mechanical arm lower end rotatable connection one is multi-shaft interlocked, will be with the multiple material bags crawl on transmission mechanism 5
And be moved to specify and pile up the rotating suction disc component 4 piled up of position release.The band transmission mechanism 5 includes downward-sloping setting simultaneously
From the oblique belt of feeding termination material and positioned at stacking end and by multiple material bags the whole turn-up mechanism of centralized integration is carried out at stacking end
6。
As shown in Fig. 2 the whole turn-up mechanism 6 includes that what is be sequentially arranged stops foreskin band the 62, second horizontal stroke of the 61, first barrel roll component
Roll assembly 63, the horizontal pushing mechanism 64 and sensing material bag material bag being pushed into from the first barrel roll component 62 on second barrel roll component 63
Position and feed back to control system stop bag induction installation, the first barrel roll component 62 and the transmission direction of the second barrel roll component 63 are hung down
Directly；The horizontal pushing mechanism 64 includes the pusher drive device of fixed installation and is connected to the pusher of reasoning drive device output end
Plate.The first barrel roll component 62, the second barrel roll component 63 be arranged in parallel including multiple respectively, the barrel roll for transmitting.
In the present embodiment, material bag is transported to from band transmission mechanism 5 and stops foreskin band 61, is recognized by induction installation and is fed back
Recorded to control system.
So that rotating suction disc component 4 once captures four material bags of rectangular array as an example：
First bag material bag is transported when foreskin band 61 is stopped and is marked as 1#, and the second bag material bag is marked when transporting to parking belt
2# is designated as, 1#, 2# material bag are moved to the first barrel roll component 62 and stop foreskin 61 pause motions of band simultaneously；1#, 2# material bag exist
It is brought into close contact to form the first single group and by scraping wings crosswise pushing to the second horizontal stroke under roll impetus in first barrel roll component 62
Roll assembly 63；1#, 2# material bag form a neat row under roll impetus in the second barrel roll component 63, while stopping foreskin
Band 61 recovers motion, and the 3 material bag 3# and 4 materials bag 4# that will be recorded repeat above-mentioned action in the first barrel roll component 62
The second single group of upper formation；3#, 4# material bag are horizontal in the second horizontal mixed component by scraping wings crosswise pushing to the second barrel roll component 63
Fitted with 1#, 2# material bag under rolling impetus, form neat rectangular array.The 1# of rectangular array, 2#, 3#,
4# material bags, wait the disposable crawl of rotating suction disc component 4.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 3：
Structure of the present embodiment to driving mechanism 2 on the basis of above-described embodiment is further optimized, the driving mechanism 2
Including indulging bearing 21, cross bearer 22, movable stand 23, vertical shift drive device 24, cross sliding driving device 25, traversing component, vertical shift group
Part.The movable stand 23 is arranged on cross bearer 22, is fixedly mounted on cross sliding driving device 25 its output end on movable stand 23
It is connected with cross bearer 22 by traversing component, orders about movable stand 23 along the left/right transverse shifting of cross bearer 22.The cross bearer 22 is pacified
On vertical bearing 21, its output end of vertical shift drive device 24 on cross bearer 22 is fixedly mounted on by vertical shift component and vertical branch
Seat 21 is connected, and is ordered about cross bearer 22 and is driven movable stand 23 to be vertically moved along vertical bearing 21 is front/rear together.
As shown in figure 3, the movable stand 23 that palletizing mechanical arm is connected in the present embodiment is longitudinally set with the vertical bearing put by a horizontal stroke one
21st, cross bearer 22, realize the way moving of load；On the other hand, the movable stand 23 of connection palletizing mechanical arm is by traversing driving
Device 25 and its traversing component of output end connection realize laterally precisely movement, meanwhile, connect the movable stand 23 of palletizing mechanical arm
The vertical shift component for moving drive device 24 and its output end connection by transverse and longitudinal realizes that longitudinal direction is precisely mobile.In automatic loading, bear
Load can be moved in railway carriage at any two-dimensional coordinate specified under the drive of movable stand 23, mobile accurate, flexible, quick.
The cross sliding driving device 25 includes the traversing motor and traversing reductor that are connected with each other, and the traversing component includes
Installed in the horizontal drive gear 261 and the horizontal drive tooth bar 262 being fixedly mounted on cross bearer 22, horizontal drive of traversing its output end of reductor
Gear 261 is intermeshed with horizontal drive tooth bar 262, and traversing motor orders about horizontal drive gear 261 in horizontal drive tooth bar by traversing reductor
Gear motion on 262.The traversing motor uses servomotor.
In order to preferably realize that movable stand 23 is accurately vertically moved, as shown in figure 5, the vertical shift drive device 24 includes
The vertical shift motor and vertical shift reductor of interconnection, the vertical shift component include the vertical drive installed in its output end of vertical shift reductor
Shaft coupling 271, vertical extension rod 272 driven, vertical gear 273 driven and is fixedly mounted on vertical bearing 21 and is engaged with vertical drive gear 273
Vertical drive tooth bar 274, vertical shift motor passes sequentially through the vertical shaft coupling 271, the vertical extension rod 272 that drives of driving and orders about the vertical gear 273 that drives vertical
Drive gear motion on tooth bar 274.
For the stability run when preferably ensureing the load of driving mechanism 2, the horizontal rotating shaft for driving gear 261 vertically sets
Put and the horizontal loading end for driving gear 261 and movable stand 23 is separately mounted to the both sides of cross bearer 22.
In the present embodiment, as shown in figure 4, using output end and the horizontal drive cross sliding driving device 25 that be connected of gear 261 oneself
The load that weight is installed with the load end of movable stand 23 is balanced, and reducing movable stand 23 may because being chronically at side heeling condition
The excessive wear deformation of appearance, extension device service life improves the precision of the transverse shifting of movable stand 23.
As shown in fig. 6, the movable stand 23 is additionally provided with the horizontal stroke with the outline of cross bearer 22 with the junction of cross bearer 22
Move and be oriented to convex portion 231.The traversing guiding convex portion 231 just with the outline of cross bearer 22, increase movable stand 23 and cross bearer
22 contact area, so as to reduce corresponding pressure at the two contact surface, slows down abrasion, while strengthening the relatively horizontal branch of movable stand 23
Operation stability when seat 22 is moved.
For the stability run when preferably ensureing that driving mechanism 2 is loaded, also including by cross bearer 22 and vertical bearing 21
The intermediate support 28 being stably connected with；The top of the intermediate support 28 is fixedly connected with cross bearer 22, the bottom of intermediate support 28
It is slidably connected with vertical bearing 21.In the present embodiment, cross bearer 22 and the junction of vertical bearing 21 are strengthened by setting intermediate support 28
Load-bearing property, can more meet performance requirement when heavy load is transported.
As shown in figure 5, the vertical bearing 21 is connected the straight guide 211 that side is provided with projection with intermediate support 28, while
Intermediate support 28 is provided with the external slide rail with the form fit of straight guide 211.In the present embodiment, straight guide 211 and external slide rail shape
Matching, while straight guide 211 plays guide effect, also enhances stability during the two relative movement.
The ball assembly or roll wheel assembly of auxiliary Stable sliding are additionally provided between the straight guide 211 and external slide rail.Institute
State ball assembly or roll wheel assembly is located between straight guide 211 and external slide rail, using architectural feature, both reduce straight guide 211
Frictional force between external slide rail during relative motion, provides stability during relative movement again, and performance when meeting heavy load will
Ask.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 4：
The present embodiment carries out further excellent on the basis of above-described embodiment to the structure of palletizing mechanical arm, rotating suction disc component 4
Change.The palletizing mechanical arm is arranged in the driving mechanism 2 of way moving, and external air pump, control system, such as Fig. 7, Fig. 8 institute
Show, including telescopic arm 3, the rotating suction disc component 4 positioned at the end of telescopic arm 3, the suction of connection telescopic arm 3 and rotating suction disc component 4
Disk rotating turret, the assembly drive means for driving the rotation of rotating suction disc component 4；The telescopic arm 3 includes the fixed mount of flexible connection
31 and expansion link 32；The sucker rotating turret includes being fixedly mounted on the fixed support portion 41 of the bottom of expansion link 32 and is propped up with fixation
Support part 41 rotates the rotating junction 42 of connection, and rotating suction disc component 4 is arranged on rotating junction 42.
The quantity of the expansion link 32 is three, three expansion links 32 be arrangeding in parallel Connection Bracket 31 and fixations simultaneously
Supporting part 41.
In the present embodiment, one is that rotating suction disc component 4 connects air pump, controls rotating suction disc component 4 to adsorb or release by air pump
Material bag is put, so as to realize the crawl or unloading of material bag；Two is the shifting that fixed mount 31 is arranged on driving mechanism 2 in telescopic arm 3
In moving frame 23, the material bag of rotating suction disc component 4 and absorption can be with following the movement in driving mechanism 2 by telescopic arm 3 together
Frame 23 carry out it is front/rear/left/right movement, that is, the material bag for capturing with treat to be moved in the parallel plane of entrucking railway carriage bottom；Three
It is that the expansion link 32 of relative telescopic movement in telescopic arm 3 drives the rotating suction disc component 4 of the bottom end of expansion link 32 up/down together
It is mobile.By said structure, can be quickly moved to after the crawl material bag of rotating suction disc component 4 and treat to be arbitrarily designated position in entrucking railway carriage
Postponing carries out release stacking.
As shown in figure 9, the assembly drive means include pivoted frame transmission component 43 and are fixedly mounted on fixed support portion 41
On pivoted frame motor 44, the output end of pivoted frame motor 44 orders about rotating junction 42 and drives by pivoted frame transmission component 43
The unitary rotation of rotating suction disc component 4.
As shown in Fig. 9, Figure 11, the pivoted frame transmission component 43 is belt-type, including defeated installed in pivoted frame motor 44
Go out the first driving wheel, the first driven pulley installed in rotating junction 42 and connection the first driving wheel and first driven pulley at end
The first belt being driven.
By the way of belt transmission, pivoted frame motor 44 passes through the first driving wheel, the first skin to pivoted frame transmission component 43
Band, the first driven wheel drive rotating junction 42 drive the unitary rotation of rotating suction disc component 4 on rotating junction 42.
By said structure, the adjustment of the overall offset angle of rotating suction disc component 4 is realized, so that the adsorbate of rotating suction disc component 4
Material bag carries out drift angle regulation.
The rotating suction disc component 4 includes that multiple gas circuits access the sucker unit 401 of air pump and for installing sucker unit
401 sucker mounting bracket；The sucker mounting bracket is fixed on rotating junction 42.
Further, the rotating suction disc component 4 also includes being driven with the unit rotational that sucker unit 401 connects one to one
Dynamic device, each unit rotational drive device individually controls a sucker unit 401, and ordering about sucker unit 401 carries out independence
Drift angle regulation.
The sucker mounting bracket include set adjustment chute adjustment plate 45, through adjustment chute and can adjustment chute in
The adjusting lever 46 for sliding laterally, the adjustment block 47 being slidably mounted on adjusting lever 46；The adjustment block 47 and sucker unit 401 1
One correspondence connection.
As shown in figure 9, the quantity of the sucker unit 401 is four and four sucker units 401 are square matrix form row
Row；The quantity of the adjusting lever 46 is two, and two adjusting levers 46 are be arranged in parallel and are each passed through two groups of adjustment chutes, and each is adjusted
Whole bar 46 respectively installs two adjustment blocks 47 being connected with sucker unit 401.
In the present embodiment, the lateral adjustments in chute is adjusted of adjusting lever 46 are capable of achieving to be separately mounted to two adjusting levers 46
On 401 regulations of spacing of adjacent sucker unit；Adjustment block 47 is adjusted on adjusting lever 46 along its axis, is capable of achieving to pacify respectively
401 regulations of spacing of adjacent sucker unit on an adjusting lever 46.Spacing between by adjusting sucker unit 401 can
So that rotating suction disc component 4 preferably adapts to different size material bag adsorption entails so that each sucker unit 401 can be aligned
Effectively adsorbed at the center of material bag.
As shown in Figure 10, the adjustment block 47 is respectively arranged with the set hole with the socket of adjusting lever 46 and sucker unit 401
The gathering sill of flexible connection, the guide post 471 being sheathed in gathering sill；The bottom of the guide post 471 is consolidated with sucker unit 401
Fixed connection, the top of guide post 471 is provided with the guide limiting stopper for preventing guide post 471 from departing from from gathering sill.
In the present embodiment, the guide post 471, gathering sill that each sucker unit 401 passes through to be correspondingly arranged can be with respect to adjustment block
The 47 up/down fine settings for carrying out small range, preferably adapt to different demands during automatic loading.
As shown in Figure 10, the sucker mounting bracket is also included for adjusting lever 46 to be positioned into fixed the in chute is adjusted
One fixture 48；First fixture 48 includes the fixed cover being socketed with connecting rod, fixed cover and adjustment chute is fixed and connected
The first bolt and nut component (representing not in the drawings) for connecing.
In order to ensure manipulator run when stability, adjusting lever 46 adjust chute in position determine after, by first
Fixture 48 is fixed on the positioning.It is fixed on the positioning using bolt nut structure, simple structure, connection is reliable.
The second fixture is also set up, in order to ensure stability when manipulator runs, adjustment block 47 is on adjusting lever 46
After position determines, it is fixed on the positioning by the second fixture.Second fixture is bolt, bolt and the screw thread of adjustment block 47
It is connected and through adjustment block 47 and is pressed on adjusting lever 46 to be fixed on the positioning.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 5：
The present embodiment as shown in Fig. 1, Figure 12, vacuum cleaner is also installed on the mainframe 1 based on embodiment any one of 1-4
The suction port of structure 7 and dust collection mechanism 7 is corresponding with the band blanking end position of transmission mechanism 5.The external gas source of the dust collection mechanism 7, right
The material such as cement, flour bag carries out carrying out adsorbing powder dust recovery during automatic loading, purifies working environment.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
The above, is only presently preferred embodiments of the present invention, not does any formal limitation to the present invention, it is every according to
Any simple modification, the equivalent variations made to above example according to technical spirit of the invention, each fall within protection of the invention
Within the scope of.
Claims (10)
1. it is a kind of to criticize the automatic loading system for piling up multiple material bags together, with the track set along railway carriage depth direction（001）Match somebody with somebody
Set is installed, including the mainframe for being slidably mounted on front/rear movement on track（1）, installed in mainframe（1）Upper palletizing mechanical arm and
The control system of control automatic loading system work, it is characterised in that：The mainframe（1）It is interior to set material bag from feeding end
Transmit to the band transmission mechanism at stacking end（5）；Palletizing mechanical arm lower end rotatable connection one is multi-shaft interlocked, will be with conveyer
Structure（5）On multiple material bags capture and be moved to specify and pile up the rotating suction disc component piled up of position release（4）.
2. according to claim 1 a kind of with the automatic loading system for batch piling up multiple material bags, it is characterised in that：It is described
Band transmission mechanism（5）Including downward-sloping setting and from the oblique belt of feeding termination material and positioned at stacking end and by multiple material bags
The whole turn-up mechanism of centralized integration is carried out at stacking end（6）.
3. according to claim 2 a kind of with the automatic loading system for batch piling up multiple material bags, it is characterised in that：It is described
Whole turn-up mechanism（6）Stop foreskin band including what is be sequentially arranged（61）, the first barrel roll component（62）, the second barrel roll component（63）, by thing
Material is wrapped from the first barrel roll component（62）It is pushed into the second barrel roll component（63）On horizontal pushing mechanism（64）With sensing material package location simultaneously
Feed back to control system stops bag induction installation, the first barrel roll component（62）With the second barrel roll component（63）Transmission direction is vertical；
The horizontal pushing mechanism（64）Including the pusher drive device for fixedly mounting and the scraping wings for being connected to reasoning drive device output end.
4. according to claim 3 a kind of with the automatic loading system for batch piling up multiple material bags, it is characterised in that：It is described
First barrel roll component（62）, the second barrel roll component（63）Respectively include multiple be arranged in parallel, for transmit barrel roll.
5. a kind of with the automatic loading system for batch piling up multiple material bags, its feature according to claim any one of 1-4
It is：The palletizing mechanical arm includes being arranged on mainframe（1）Above and with movable stand（23）Driving mechanism（2）Be arranged on
Movable stand（23）On telescopic arm（3）；The rotating suction disc component（4）It is rotatably mounted on telescopic arm（3）Bottom and by stretching
Contract the telescopic arm for adjusting（3）The movable stand moved linearly with two axles（23）Connection.
6. according to claim 5 a kind of with the automatic loading system for batch piling up multiple material bags, it is characterised in that：It is described
Telescopic arm（3）Fixed mount including connection of stretching（31）And expansion link（32）；The rotating suction disc component（4）Including sucker unit
（401）, assembly drive means, connection expansion link（32）With rotating suction disc component（4）Sucker rotating turret；The sucker rotating turret
Including being fixedly mounted on expansion link（32）The fixed support portion of bottom（41）And with fixed support portion（41）Rotate the rotation of connection
Connecting portion（42）, installed in expansion link（32）On assembly drive means pass through rotating junction（42）Drive rotating junction
（42）With installed in rotating junction（42）On sucker unit（401）It is overall to rotate together.
7. according to claim 6 a kind of with the automatic loading system for batch piling up multiple material bags, it is characterised in that：It is described
Sucker unit（401）By being fixedly mounted on rotating junction（42）On sucker mounting bracket install；The sucker mounting bracket bag
Include the adjustment plate that adjustment chute is set（45）, through adjustment chute and can in adjustment chute the adjusting lever that slide laterally（46）、
It is slidably mounted on adjusting lever（46）On adjustment block（47）；The adjustment block（47）With sucker unit（401）Connect one to one.
8. according to claim 5 a kind of with the automatic loading system for batch piling up multiple material bags, it is characterised in that：It is described
Driving mechanism（2）Including along the longitudinally disposed vertical bearing of track（21）, laterally across two vertical bearings（21）Cross bearer（22）、
It is fixedly mounted on cross bearer（22）On vertical shift drive device（24）, be movably arranged on cross bearer（22）On movable stand（23）、
It is fixedly mounted on movable stand（23）On cross sliding driving device（25）；The cross sliding driving device（25）Output end by traversing
Component and cross bearer（22）Drive connection, by cross sliding driving device（25）Drive movable stand（23）Left/right transverse shifting；It is described vertical
Move drive device（24）Output end pass through vertical shift component and vertical bearing（21）Drive connection, by vertical shift drive device（24）Drive
Cross bearer（22）, cross sliding driving device（25）, movable stand（23）It is front/rear together to vertically move.
9. according to claim 8 a kind of with the automatic loading system for batch piling up multiple material bags, it is characterised in that：It is described
Cross sliding driving device（25）Including the traversing motor and traversing reductor that are connected with each other, the traversing component includes being arranged on traversing
The horizontal drive gear of reductor its output end（261）Be fixedly mounted on cross bearer（22）On horizontal drive tooth bar（262）, horizontal drive gear
（261）With horizontal drive tooth bar（262）Intermeshing, traversing motor orders about horizontal drive gear by traversing reductor（261）In horizontal drive tooth
Bar（262）Upper gear motion；The vertical shift drive device（24）It is described including the vertical shift motor and vertical shift reductor that are connected with each other
Vertical shift component includes the vertical drive shaft coupling installed in its output end of vertical shift reductor（271）, vertical drive extension rod（272）, vertical drive tooth
Wheel（273）Be fixedly mounted on vertical bearing（21）It is upper and with vertical drive gear（273）The vertical drive tooth bar of engagement（274）, vertical shift motor
Pass sequentially through vertical drive shaft coupling（271）, vertical drive extension rod（272）Order about vertical drive gear（273）Tooth bar is driven vertical（274）Upper engagement
Motion.
10. a kind of with the automatic loading system for batch piling up multiple material bags, its feature according to claim any one of 1-4
It is：The mainframe（1）On dust collection mechanism is also installed（7）And dust collection mechanism（7）Suction port with band transmission mechanism（5）Blanking
End position correspondence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710129395.9A CN106882607B (en) | 2017-03-06 | 2017-03-06 | Automatic loading system for stacking multiple material packages in same batch |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710129395.9A CN106882607B (en) | 2017-03-06 | 2017-03-06 | Automatic loading system for stacking multiple material packages in same batch |
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| CN106882607B CN106882607B (en) | 2023-04-25 |
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| CN108792663A (en) * | 2018-08-30 | 2018-11-13 | 中建材凯盛机器人（上海）有限公司 | The device of material automatic loading for shipping integral type and corresponding method |
| CN109795893A (en) * | 2019-03-21 | 2019-05-24 | 深圳蓝胖子机器人有限公司 | The conveying of array cargo and stowage, equipment and computer readable storage medium |
| CN110817428A (en) * | 2019-12-04 | 2020-02-21 | 上海瑞赤智能科技有限公司 | Automatic material package of railway carriage or compartment carries pile up neatly system |
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| CN106882607B (en) | 2023-04-25 |
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