CN109160450A - A kind of macleaya cordata automatic loading-unloading machine and its automatic loading and unloading method - Google Patents
A kind of macleaya cordata automatic loading-unloading machine and its automatic loading and unloading method Download PDFInfo
- Publication number
- CN109160450A CN109160450A CN201810857324.5A CN201810857324A CN109160450A CN 109160450 A CN109160450 A CN 109160450A CN 201810857324 A CN201810857324 A CN 201810857324A CN 109160450 A CN109160450 A CN 109160450A
- Authority
- CN
- China
- Prior art keywords
- fork plate
- connecting rod
- rod mechanism
- crank connecting
- automatic loading
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/061—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks characterised by having a lifting jib
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
- B66F9/22—Hydraulic devices or systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B25/00—Details of general application not covered by group F26B21/00 or F26B23/00
- F26B25/001—Handling, e.g. loading or unloading arrangements
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F26—DRYING
- F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
- F26B5/00—Drying solid materials or objects by processes not involving the application of heat
- F26B5/04—Drying solid materials or objects by processes not involving the application of heat by evaporation or sublimation of moisture under reduced pressure, e.g. in a vacuum
- F26B5/06—Drying solid materials or objects by processes not involving the application of heat by evaporation or sublimation of moisture under reduced pressure, e.g. in a vacuum the process involving freezing
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Drying Of Solid Materials (AREA)
Abstract
A kind of macleaya cordata automatic loading-unloading machine, including car body (1), car body (1) is axisymmetrically equipped with crank connecting rod mechanism (20), a pair of fork plate (3) disposed in parallel of crank connecting rod mechanism (20) top pivot joint；Crank connecting rod mechanism (20) drive a pair of of fork plate (3) receive lift position and stretch squatting position set between switch；When receiving lift position, traversing axis (22) is located at sliding slot (4) left end, straight-arm (25.2) is supported in the lower section of fork plate (3) vertically, and height of the fork plate (3) apart from dead axle (21) is located at the first height (H1)；When stretching squatting position and setting, when traversing axis (22) is located at sliding slot (3) right end, straight-arm (25.2) rotated clockwise a forward leaning angle (α) around traversing axis (23) from vertical direction, so that fork plate (3) forward horizontal moves forward travel distance (L1) it is moved down into height of the fork plate (3) apart from dead axle simultaneously positioned at the second height (H2).The macleaya cordata automatic loading-unloading machine and its handling method, movement is accurate, and structure is simple, and control is single, can be easily accomplished unmanned automatically working.
Description
Technical field
The present invention relates to the technical fields of Chinese herbal medicine processing, and in particular to a kind of macleaya cordata automatic loading-unloading machine and its automatic dress
Discharging method.
Background technique
Bloodroot macleaya cordata Macleaga cordata R (W illd) .Brown be perennial herb, high 1~2m,
Plant surface has white powder, and cauline leaf has the juice of yellow to flow out after fractureing.Stem is cylindrical, hollow, and green shows purple sometimes
Color.Single leaf alternate, it is wealthy oval, there is irregular wave fissure piece, blade face green is smooth, and leaf back white drapes over one's shoulders dense fine, soft fur.Flower
White, capsule fall ovate, oblong, flat, red, and 4~6, seed.
Macleaya cordata stem, leaf, fruit are containing alkaloids.The content of these alkaloids is different in each organ of plant
's.The experimental results showed that in same growth period, same planting area, it is biological in each organ of macleaya cordata above-ground plant parts
The content of alkali is fruit > leaf > stem.In Zhejiang area, 7~November is exactly the time of macleaya cordata plant result.In this stage,
Macleaya cordata fruit should be harvested and extract its alkaloid.Alkaloid is above plantation macleaya cordata in wild each organ of macleaya cordata plant
Plant.Therefore, develop higher dose Macleaya cordata alkaloids product must wild harvesting simultaneously fruit, leaf, stem are stored classifiedly not
In same classfying frame, freeze drier is sent to handle.
Vacuum freeze drier needs first to freeze, and material is then sent into hothouse vacuum drying, while the water extracted out steams
Gas is captured in cold-trap until material reaches certain equilibrium moisture content.The vacuum freeze drier of autonomous Design is from freezing
The material handling of room to vacuum drying cabinet carries out by hand, and loading and unloading ice-cold article for a long time has significant impact to the body of people, because
This needs to research and develop automatic loading-unloading equipment, to meet unmanned automatic loading-unloading task of the material from freezing chamber to vacuum drying cabinet.
Summary of the invention
For above-mentioned defect existing in the prior art, the purpose of the present invention is to provide a kind of macleaya cordata automatic loading-unloading machines
And its automatic loading and unloading method.
The object of the present invention is achieved like this, a kind of macleaya cordata automatic loading-unloading machine, for by macleaya cordata drying box from pre-
Freeze room and unload and be loaded into hothouse, including car body,
Car body is axisymmetrically equipped with crank connecting rod mechanism, a pair of fork disposed in parallel of crank connecting rod mechanism top pivot joint
Plate；
Crank connecting rod mechanism includes dead axle, elbow joint axis, traversing axis, humerus bar and ulna bar, and humerus bar one end is articulated in
Dead axle, the humerus bar other end and ulna bar are articulated in elbow joint axis jointly, and the ulna bar other end is articulated in traversing axis, ulna bar packet
The curved boom and vertical arm with turning integrally connected are included, curved boom and vertical arm junction are pivotally connected traversing axis, and ulna bar top is articulated in
Fork plate bottom；Traversing axis is movably disposed in sliding slot, and sliding slot is equipped on car body；
Crank connecting rod mechanism drive a pair of of fork plate receive lift position and stretch squatting position set between switch；It is horizontal when receiving lift position
Axle position is moved in sliding slot left end, straight-arm is supported in the lower section of fork plate vertically, and height of the fork plate apart from dead axle is located at the first height；It is stretching
When squatting position is set, when traversing axle position is in sliding slot right end, straight-arm rotated clockwise a forward leaning angle around traversing axis from vertical direction, made
Fork plate forward horizontal is obtained to move forward travel distance while being moved down into height of the fork plate apart from dead axle positioned at the second height.
Further, curved boom and the humerus bar are isometric, and dead axle and traversing axle position are in same horizontal line.
Further, crank connecting rod mechanism drives a pair of of fork plate from when receiving the switching of lift position and stretching squatting position and set, L1For fork plate
Move forward distance, L0For traversing axis from receive lift position and stretch squatting position set between switch when traversing distance, α is vertical arm from vertical side
To the forward leaning angle rotated through；L is the length of vertical arm, meets formula: L1=L0+Lsinα。
It further, further include actuator, the actuator is oil cylinder, crank connecting rod mechanism before the piston rod of oil cylinder connects
Traversing axis, the traversing axis of preceding crank connecting rod mechanism by interlocking lever connect it is described after crank connecting rod mechanism traversing axis.
It further, further include actuator, actuator is secondary track, and the pair track is arranged in travel in trolley idler wheels
The two sides of track；The elbow joint axis of crank connecting rod mechanism is rotatably equipped with directive wheel, and directive wheel rolling is connected on secondary track.
Further, secondary track includes the first orbit plane, slope track and the second orbit plane of sequence head and the tail connection,
Second orbit plane and track are in same level.
Further, the first orbit plane is equal to a pair of of fork of crank connecting rod mechanism drive lower than the distance of the second orbit plane
Plate receive lift position and stretch squatting position set between switch when, the raised difference in height of elbow joint axis.
Further, fork plate (3) both ends are equipped with drive-connecting shaft and hub motor, and left finger bar and right finger bar are respectively rotatably set
It sets on drive-connecting shaft, the left finger bar and right finger bar described in In-wheel motor driving are rotated between vertical position and pendant position and cut
It changes；When left finger bar is located at vertical position, right finger bar is located at pendant position.
A kind of handling method of the macleaya cordata automatic loading-unloading machine,
Including
1) empty wagons is moved along track until unloading the case moment；
2) case that unloads that pivoted arm unloads drying box from pre-freeze room acts；
3) vehicle-mounted drying box is moved along track opposite direction until unloading the case moment；
4) from the vanning movement on the inserted link that automatic loading-unloading machine is unloaded to hothouse；
Unload the case moment are as follows: when the pivoted arm of the pre-freeze room goes to alignment rail, automatic loading-unloading machine is along track travel to fork
Implementation steps 2 when the threshold value drying box edge distance of plate is spacing distance) or step 4), spacing distance is greater than crank connecting rod
Mechanism drives a pair of of fork plate to switch the Forward distance for stretching fork plate when squatting position is set from receipts lift position.
Further, it is described from pre-freeze room pivoted arm unload drying box unload case movement include
Step 1) squat down chain stay movement
Traversing axis is from sliding slot left end moved forward to sliding slot right end, so that crank connecting rod mechanism drives a pair of of fork plate to lift position from receipts
It is switched to and stretches squatting position and set, the height and position of fork plate is just below the height position of the drying box bottom bearing surface inserted on pivoted arm at this time
Set 3-5mm；Car body moves ahead, and fork plate protrudes into the underface of the bearing surface of drying box bottom, until the left finger bar of vertical position resists
Drying box left wall stops car body, and left finger bar rotates to pendant position from vertical position, and right finger bar rotates to vertically from pendant position
Position；
Step 2), which is stood erectly, forks movement
Car body is as you were, and traversing axis moves to sliding slot left end from sliding slot right end, so that crank connecting rod mechanism drives a pair of of fork
Plate is switched to receipts lift position from stretching squatting position and set, and fork plate is from the second height H2It is moved to the first height H1, fork plate by drying box fork from
Open one height difference H of pivoted arm2-H1, completion, which is stood erectly, forks movement.
A kind of macleaya cordata automatic loading-unloading machine and its handling method, in order to solve " from freezing chamber to vacuum drying cabinet
The technical problem of unmanned automatic loading-unloading " passes through following technological means:
1) crank connecting rod mechanism is drivingly connected fork plate
Fork plate is stretched squatting position and is set, just meet fork plate insertion under the drive of crank connecting rod mechanism from receiving lift position and being switched to
The action request that " extension " of drying box bottom bearing surface " declines " simultaneously, from stretch squatting position set be switched to receipts lift position when, meet
The action request that fork plate simultaneously " moves forward drying box " lifting " ".
2) driving of crank connecting rod mechanism
In dead axle, traversing axis and elbow joint axis, dead axle be it is fixed, only traversing axis can move left and right, separately
Outer elbow joint axis must fixed-axis rotation, therefore devise two kinds of alternative actuators, one is oil cylinders, drive traversing axis
It moves left and right, another kind is secondary track, and the slope track of secondary track is by elbow joint spindle guide to making its Forward raise simultaneously one
Highly, being equivalent to makes elbow joint axis have rotated certain angle to realize rotating clockwise for vertical bar.Control is automated to it
System, only the control of the control including trolley movement speed and left and right fingerboard, governing factor are single.
Crank connecting rod mechanism drives fork plate, and actuator drives crank connecting rod mechanism, and therefore, above-mentioned two aspect is synergistic effect
's.
The macleaya cordata automatic loading-unloading machine and its handling method, actuator drive crank connecting rod mechanism, crank connecting rod mechanism
Fork plate is driven, automatic loading and unloading macleaya cordata drying box, movement is accurate, and structure is simple, and control is single, can be easily accomplished unmanned automation
Work.
Detailed description of the invention
Fig. 1 is a kind of main sectional view of the embodiment one of macleaya cordata automatic loading-unloading machine of the present invention.
Fig. 2 is a kind of top view of the embodiment one of macleaya cordata automatic loading-unloading machine of the present invention.
Fig. 3 is a kind of main sectional view of the embodiment two of macleaya cordata automatic loading-unloading machine of the present invention.
Fig. 4 is a kind of top view of the embodiment two of macleaya cordata automatic loading-unloading machine of the present invention.
Fig. 5 is a kind of working state figure of the embodiment two of macleaya cordata automatic loading-unloading machine of the present invention.
Fig. 6 is a kind of crank connecting rod mechanism principle figure of macleaya cordata automatic loading-unloading machine of the present invention.
Appended drawing reference in above-mentioned figure:
1 car body, 2 openings, 3 fork plates, 3.1 convex ribs, 4 sliding slots, 5 tracks, 6 left finger bars, 7 right finger bars, 8 idler wheels, 8.1 idler wheels are led
Slot
20 crank connecting rod mechanisms, 21 dead axles, 22 elbow joint axis, 23 traversing axis, 24 humerus bars, 25 ulna bars, 26 connect
Lever
30 actuators
40 drying boxes, 41 slots, 42 bearing surfaces, 43 guide grooves, 44 accommodation grooves
Crank connecting rod mechanism before 20.1, crank connecting rod mechanism after 20.2
25.1 curved booms, 25.2 vertical arm
50 secondary tracks, 50.1 first orbit planes, 50.2 second orbit planes, 50.3 slope tracks
Specific embodiment
It elaborates, but is not intended to limit the scope of the invention to the embodiment of the present invention below in conjunction with attached drawing.
Embodiment one
As shown in Figure 1, a kind of macleaya cordata drying box automatic loading-unloading machine, including car body 1, car body 1 have Y symmetry axis and X pairs
Claim axis；Car body 1 is equipped with opening 2, and opening 2 axisymmetrically and with X symmetry axis is axisymmetrically set there are four crank connecting rod with Y symmetry axis
Mechanism 20,20 top of crank connecting rod mechanism are pivotally connected a pair of of fork plate 3, and 3 surface of fork plate is equipped with guiding rib 3.1.
The crank connecting rod mechanism 20 includes dead axle 21, elbow joint axis 22, traversing axis 23, humerus bar 24 and ulna bar 25,
24 one end of humerus bar is articulated in dead axle 21, and 24 other end of humerus bar and ulna bar 25 are articulated in elbow joint axis 22, ulna bar jointly
25 other ends are articulated in traversing axis 23, and ulna bar 25 includes the curved boom 25.1 and vertical arm 25.2 with turning β integrally connected, turning
β is preferably 120 °~160 °；Curved boom and vertical arm junction are pivotally connected the traversing axis 23, and 25 top of ulna bar is articulated in fork plate 2
Bottom；Traversing axis 23 is located in sliding slot 4.Sliding slot 4 is located at 2 two sides of opening；Curved boom 25.1 and the humerus bar 24 are isometric.
Crank connecting rod mechanism 20 drive a pair of of fork plate 3 receive lift position and stretch squatting position set between switch；When receiving lift position,
Traversing axis 22 is located at 4 left end of sliding slot, and straight-arm 25.2 is supported in the lower section of fork plate 3 vertically, and height of the fork plate 3 apart from dead axle 21 is located at
First height H1；When stretching squatting position and setting, when traversing axis 22 is located at 3 right end of sliding slot, elbow joint axis 22 increases height difference H, straight-arm
25.2 rotated clockwise a forward leaning angle α around traversing axis 23 from vertical direction so that 2 forward horizontal of fork plate move advance away from
From L1Being moved down into height of the fork plate 3 apart from dead axle is located at the second height H simultaneously2, the second height H2Less than the first height H1。
At this point, if the length of vertical arm 25.2 is greater than the length of curved boom 25.1, so H > H2-H1；If vertical arm 25.2 and curved boom
25.1 equal lengths, then H=H2-H1；If the length of vertical arm 25.2 is less than the length of curved boom 25.1, H < H2-H1。
Crank connecting rod mechanism 20 includes preceding crank connecting rod mechanism 20.1 and rear crank connecting rod mechanism 20.2.
As shown, traversing axis 23 traversing distance in sliding slot 4 is L0, the length shadow of curved boom 25.1 and the humerus bar 24
The size of the forward leaning angle α of the traversing vertical wall for formulating length is rung, forward leaning angle α influence moves down height, just like following formula (1):
L1=L0+Lsinα (1)
Wherein L1 be crank connecting rod mechanism 20 from receive lift position and stretch squatting position set between switch when fork plate Forward distance, L0
For traversing axis 23 from receive lift position and stretch squatting position set between switch when traversing distance, α be vertical arm 25.2 revolve from vertical direction
The forward leaning angle α turned over；L is the length of vertical arm 25.2.Forward leaning angle α is preferably 30 ° -60 °.
It further include actuator 30, the actuator 30 is preferably oil cylinder, toggle before the piston rod of the actuator 30 connects
The traversing axis 22 of the traversing axis 22 of link mechanism 20.1, preceding crank connecting rod mechanism 20.1 connects the rear toggle by interlocking lever 26
The traversing axis 22 of link mechanism 20.2.Actuator 30 is fixed on the car body.
3 both ends of fork plate are rotatably coupled left finger bar 6 and right finger bar 7 respectively, are equipped with wheel at the left drive-connecting shaft for referring to bar 6
Hub motor drives the left finger bar 6 and right finger bar 7 to rotate switching between vertical position and pendant position.
The automatic loader and unloader needs unload from the pivoted arm of pre-freeze room while loading the drying box, and carry and unload
It is loaded on the pivoted arm of hothouse simultaneously, track 5 is equipped between hothouse and pre-freeze room, it is in-orbit that car body guides to rolling setting
On road 5.The drying box 40 includes that bearing surface 42, bearing surface 42 are equipped on the outside of the symmetrically arranged slot 41 of middle line, slot 41
It is equipped with guide groove 43.
The drying box 40 is inserted on the pivoted arm of pre-freeze room by slot 41, and the automatic loader and unloader is so completed to unload
The movement loaded simultaneously, chain stay of 1. squatting down movement, when the pivoted arm of the pre-freeze room goes to alignment rail 5, traversing axis 22 moves forward
It to 4 right end of sliding slot, stretches squatting position so that crank connecting rod mechanism 20 drives a pair of of fork plate 3 to be located at and sets, the height and position of fork plate 3 is being just at this time
Well lower than the height and position 3-5mm of the drying box bottom bearing surface 42 inserted on pivoted arm；Car body moves ahead, and fork plate 3 protrudes into drying box
The lower section of the bearing surface 42 of bottom stops car body until the left finger bar of vertical position resists drying box left wall, and left finger bar is from vertical
Position rotates to pendant position, and right finger bar rotates to vertical position from pendant position；Movement is forked 2. standing erectly, traversing axis 22 moves back
To 4 left end of sliding slot, so that crank connecting rod mechanism 20 drives a pair of of fork plate 3 to be switched to receipts lift position from stretching squatting position and set, fork plate 3 is from the
Two height H2It is moved to the first height H1, the convex ribs 3.1 of fork plate 3 are embedded in the guide groove 43 of bearing surface 42, drying box 40 are forked
Leave one height difference H of pivoted arm2-H1, completion, which is stood erectly, forks movement.Automatic loader and unloader completion as a result, is unloaded while loading the drying
The movement of case.
The mobile automatic loader and unloader of opposite direction, along track in front of the pivoted arm of hothouse, chain stay of 1. squatting down movement is horizontal
Axis 22 is moved by left end moved forward to 4 right end of sliding slot, is stretched so that crank connecting rod mechanism 20 drives a pair of of fork plate 3 to be switched to from receipts lift position
Squatting position is set, and the Forward height decline simultaneously of drying box is driven with fork plate 3, the slot of drying box is fallen on the pivoted arm of hothouse, complete
At chain stay movement of squatting down, car body is continued to move to, drying box 40 is elapsed along pivoted arm to a upper drying box is resisted, car body is retreated,
Fork plate 3 is extracted out below drying box, and left finger bar rotates to vertical position from pendant position, and right finger bar rotates to down from vertical position
Vertical position；Movement is forked 2. standing erectly, traversing axis 22 moves to 4 left end of sliding slot from right end, so that crank connecting rod mechanism 20 drives a pair
Fork plate 3 from stretch squatting position set be switched to receipts lift position, fork plate 3 is again from the second height H2Rise to the first height H1, completion, which is stood erectly, to be forked
Movement.Automatic loader and unloader is completed to unload while loading the movement of the drying box as a result,.
1 lower section of car body is symmetrically equipped with 4 idler wheels 8, and idler wheel 8 is equipped with idler wheel guide groove 8.1, and idler wheel 8 is rolled by idler wheel guide groove 8.1
Dynamic setting is on the rail 5.
It is, automatic loader and unloader, when track center row is walked, crank connecting rod mechanism 20, which is located at, receives lift position, fork plate is just thought
3 when being located at 3-5mm in front of drying box, and crank connecting rod mechanism 20 stretches squatting position and sets from receiving lift position and be switched to, and passes through one " stretching " of movement
It one " crouching " or is inserted into below drying box bearing surface from empty fork plate 3 or has the fork plate 3 of drying box 40 that will dry from abutting
Case is fallen on hothouse pivoted arm.And when unloading drying box from pre-freeze room, 2. needing and then to stand erectly forks movement；From automatic
When charging crane is discharged on hothouse pivoted arm, need first to move back stand erectly again fork movement 2..
Due to the guiding role of idler wheel guide groove 6.1 and fork plate convex ribs 3.1, drying box can just be fallen on hothouse pivoted arm,
Or fork plate can be pitched just immediately below bearing surface, even if there is error, can also be corrected by fork plate convex ribs 3.1.
After the pivoted arm of hothouse several drying boxes in tandem, hothouse pivoted arm turns a fixed angle, and next pivoted arm is in track 5
Front continues waiting for loading, until on the more pivoted arms that all pivoted arms are loaded into hothouse.The automatic loader and unloader meets pre-
Freeze the coordination handling between the continuous production of room and the interval production of hothouse, the pivoted arm in pre-freeze room is continuously delayed with certain speed
When slow-speed is moved, the time that the pivoted arm of face track goes to next pivoted arm face track is interval time t, in interval time t, from
Dynamic charging crane needs the completion loading movement in front of pre-freeze room, is moved in front of hothouse and completes uninstall action, and back in advance
Freeze in front of the pivoted arm of room.It is arranged so automatic control program is needed to complete a whole set of movement in strict accordance with the stipulated time, accomplishes nobody
Change the automatic loading and unloading in reefer space.
Embodiment two
Actuator 30 is secondary track 50, and the two sides of track 5 are arranged in the pair track 50；20 elbow joint of crank connecting rod mechanism
Axis 22 is rotatably equipped with directive wheel 27.The rolling of directive wheel 27 is connected on secondary track 50.
The pair track 50 is two sets, the side of the 22 face track 5 of elbow joint axis of the preceding crank connecting rod mechanism 20.1
Secondary track 50, the other side pair track 50 of the 22 face track 5 of elbow joint axis of the rear crank connecting rod mechanism 20.2.
Secondary track 50 includes the first orbit plane 50.1, slope track 50.3 and the second orbit plane of sequence head and the tail connection
50.2, the second orbit plane 50.2 is with track 5 in same level.The inclination of slope track 50.3 and the second orbit plane 50.2
Angle γ is equal to crank connecting rod mechanism 20 and a pair of of fork plate 3 is driven to be switched to from lift position is received and stretch 22 axle center of elbow joint axis when squatting position is set
The angle of line and horizontal plane.
First orbit plane 50.1 is equal to crank connecting rod mechanism 20 lower than the distance of the second orbit plane 50.2 and drives a pair
Fork plate 3 receive lift position and stretch squatting position set between switch when, the raised height difference H of elbow joint axis 22.
The macleaya cordata automatic loading-unloading machine and its handling method, actuator drive crank connecting rod mechanism, crank connecting rod mechanism
Fork plate is driven, automatic loading and unloading macleaya cordata drying box, movement is accurate, and structure is simple, and control is single, can be easily accomplished unmanned automation
Work.
Claims (10)
1. a kind of macleaya cordata automatic loading-unloading machine, for hothouse to be unloaded and is loaded into from pre-freeze room by macleaya cordata drying box (40),
Including car body (1), which is characterized in that
Car body (1) is axisymmetrically equipped with crank connecting rod mechanism (20), and crank connecting rod mechanism (20) the top pivot joint is a pair of parallel
The fork plate (3) of setting；
Crank connecting rod mechanism (20) includes dead axle (21), elbow joint axis (22), traversing axis (23), humerus bar (24) and ulna bar
(25), humerus bar (24) one end is articulated in dead axle (21), and humerus bar (24) other end and ulna bar (25) are articulated in elbow pass jointly
Nodal axisn (22), ulna bar (25) other end are articulated in traversing axis (23), and ulna bar (25) includes with the curved of turning (β) integrally connected
Arm (25.1) and vertical arm (25.2), curved boom and vertical arm junction are pivotally connected traversing axis (23), and ulna bar (25) top is articulated in
Fork plate (3) bottom；Traversing axis (23) is movably disposed in sliding slot (4), and sliding slot (4) is equipped on car body；
Crank connecting rod mechanism (20) drive a pair of of fork plate (3) receive lift position and stretch squatting position set between switch；When receiving lift position,
Traversing axis (22) is located at sliding slot (4) left end, and straight-arm (25.2) is supported in the lower section of fork plate (3) vertically, and fork plate (3) is apart from dead axle
(21) height is located at the first height (H1)；When stretching squatting position and setting, when traversing axis (22) is located at sliding slot (3) right end, straight-arm
(25.2) forward leaning angle (α) was rotated clockwise from vertical direction around traversing axis (23), so that fork plate (3) forward horizontal is mobile
Forward travel distance (L1) it is moved down into height of the fork plate (3) apart from dead axle simultaneously positioned at the second height (H2)。
2. macleaya cordata automatic loading-unloading machine as described in claim 1, which is characterized in that curved boom (25.1) and the humerus bar (24) etc.
Long, dead axle (21) and traversing axis (23) are located at same horizontal line.
3. macleaya cordata automatic loading-unloading machine as described in claim 1, which is characterized in that crank connecting rod mechanism (20) drives a pair of of fork plate
(3) from when receiving the switching of lift position and stretching squatting position and set, L1For the Forward distance of fork plate, L0From receipts lift position and crouching is stretched for traversing axis (23)
Traversing distance (L when switching between position0), α is the forward leaning angle (α) that vertical arm (25.2) rotate through from vertical direction；L is
The length of vertical arm (25.2), meets formula: L1=L0+L sinα。
4. macleaya cordata automatic loading-unloading machine as described in claim 1, which is characterized in that further include actuator (30), the actuator
It (30) is oil cylinder, the traversing axis (22) of crank connecting rod mechanism (20.1), preceding crank connecting rod mechanism before the piston rod of oil cylinder connects
(20.1) traversing axis (22) connects the traversing axis (22) of the rear crank connecting rod mechanism (20.2) by interlocking lever (26).
5. macleaya cordata automatic loading-unloading machine as claimed in claim 4, which is characterized in that further include actuator (30), actuator (30)
For secondary track (50), the two sides of the track (5) of trolley idler wheels traveling are arranged in the pair track (50)；Crank connecting rod mechanism (20)
Elbow joint axis (22) rotatably be equipped with directive wheel (27), directive wheel (27) rolling be connected on secondary track (50).
6. macleaya cordata automatic loading-unloading machine as claimed in claim 5, which is characterized in that secondary track (50) includes sequence head and the tail connection
First orbit plane (50.1), slope track (50.3) and the second orbit plane (50.2), the second orbit plane (50.2) and rail
Road (5) is in same level.
7. macleaya cordata automatic loading-unloading machine as claimed in claim 6, which is characterized in that the first orbit plane (50.1) is lower than the second rail
The distance of road plane (50.2) is equal to crank connecting rod mechanism (20) and a pair of of fork plate (3) is driven to receive lift position and stretching between squatting position sets
When switching, elbow joint axis (22) raised difference in height (H).
8. macleaya cordata automatic loading-unloading machine as described in claim 1, which is characterized in that fork plate (3) both ends are equipped with drive-connecting shaft and wheel hub
Motor, left finger bar (6) and right finger bar (7) are respectively rotatably arranged on drive-connecting shaft, the left finger described in In-wheel motor driving
Bar (6) and right finger bar (7) rotate switching between vertical position and pendant position；When left finger bar is located at vertical position, right finger bar
Positioned at pendant position.
9. a kind of handling method of the macleaya cordata automatic loading-unloading machine as described in claim 1-8 is any, which is characterized in that
Including
1) empty wagons is moved along track until unloading the case moment；
2) case that unloads that pivoted arm unloads drying box from pre-freeze room acts；
3) vehicle-mounted drying box is moved along track opposite direction until unloading the case moment；
4) from the vanning movement on the inserted link that automatic loading-unloading machine is unloaded to hothouse；
Unload the case moment are as follows: when the pivoted arm of the pre-freeze room goes to alignment rail (5), automatic loading-unloading machine is arrived along track (5) walking
Fork plate threshold value drying box edge distance be spacing distance (D) when implementation steps 2) or step 4), spacing distance (D) be greater than
Forward distance (the L for the fork plate that crank connecting rod mechanism (20) drives a pair of of fork plate (3) to be stretched when squatting position is set from receipts lift position switching1)。
10. the handling method of macleaya cordata automatic loading-unloading machine as claimed in claim 8, which is characterized in that
It is described from pre-freeze room pivoted arm unload drying box unload case movement include
Step 1) squat down chain stay movement
Traversing axis (22) is from sliding slot left end moved forward to sliding slot (4) right end, so that crank connecting rod mechanism (20) drives a pair of of fork plate (3)
It stretches squatting position from receiving lift position and being switched to and sets, the height and position of fork plate (3) is just below the drying box bottom inserted on pivoted arm at this time
The height and position 3-5mm of bearing surface (42)；Car body moves ahead, and fork plate (3) protrudes into the underface of the bearing surface (42) of drying box bottom,
Until the left finger bar (6) of vertical position resists drying box left wall, stopping car body, left finger bar rotates to sagging position from vertical position
It sets, right finger bar rotates to vertical position from pendant position；
Step 2), which is stood erectly, forks movement
Car body is as you were, and traversing axis (22) moves to sliding slot (4) left end from sliding slot right end, so that crank connecting rod mechanism (20) drives
A pair of of fork plate (3) is switched to receipts lift position from stretching squatting position and set, and fork plate (3) is from the second height H2It is moved to the first height H1, fork plate
(3) drying box (40) is forked and leaves one height difference H of pivoted arm2-H1, completion, which is stood erectly, forks movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810857324.5A CN109160450B (en) | 2018-07-31 | 2018-07-31 | Automatic macleaya cordata unloading and loading machine and automatic unloading and loading method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810857324.5A CN109160450B (en) | 2018-07-31 | 2018-07-31 | Automatic macleaya cordata unloading and loading machine and automatic unloading and loading method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109160450A true CN109160450A (en) | 2019-01-08 |
| CN109160450B CN109160450B (en) | 2020-02-07 |
Family
ID=64898446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810857324.5A Active CN109160450B (en) | 2018-07-31 | 2018-07-31 | Automatic macleaya cordata unloading and loading machine and automatic unloading and loading method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109160450B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110002365A (en) * | 2019-03-21 | 2019-07-12 | 广东博智林机器人有限公司 | Fork truck, the control method of fork truck and computer readable storage medium |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2045048A (en) * | 1979-02-07 | 1980-10-29 | Z 13 Ch Agricultural Equipment | A high lift attachment for an agricultural tractor provided with a three point linkage |
| US6186728B1 (en) * | 1999-10-06 | 2001-02-13 | Rino Michaud | Lift truck |
| JP3232334B2 (en) * | 1999-09-03 | 2001-11-26 | 有限会社河島農具製作所 | Transport vehicle |
| CN104229678A (en) * | 2014-08-22 | 2014-12-24 | 安庆市天润工程机械有限责任公司 | Carrying trolley for large-size oil cylinder |
| CN105083957A (en) * | 2015-06-15 | 2015-11-25 | 河南科技大学 | Carrying device and logistics sorting device with carrying device |
| CN205023487U (en) * | 2015-09-21 | 2016-02-10 | 重庆新铝城幕墙工程有限公司 | Pneumatic cylinder formula glass transports frame |
-
2018
- 2018-07-31 CN CN201810857324.5A patent/CN109160450B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2045048A (en) * | 1979-02-07 | 1980-10-29 | Z 13 Ch Agricultural Equipment | A high lift attachment for an agricultural tractor provided with a three point linkage |
| JP3232334B2 (en) * | 1999-09-03 | 2001-11-26 | 有限会社河島農具製作所 | Transport vehicle |
| US6186728B1 (en) * | 1999-10-06 | 2001-02-13 | Rino Michaud | Lift truck |
| CN104229678A (en) * | 2014-08-22 | 2014-12-24 | 安庆市天润工程机械有限责任公司 | Carrying trolley for large-size oil cylinder |
| CN105083957A (en) * | 2015-06-15 | 2015-11-25 | 河南科技大学 | Carrying device and logistics sorting device with carrying device |
| CN205023487U (en) * | 2015-09-21 | 2016-02-10 | 重庆新铝城幕墙工程有限公司 | Pneumatic cylinder formula glass transports frame |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110002365A (en) * | 2019-03-21 | 2019-07-12 | 广东博智林机器人有限公司 | Fork truck, the control method of fork truck and computer readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109160450B (en) | 2020-02-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111406512B (en) | Tea garden bud tea picking robot and picking method | |
| CN112166808B (en) | Harvesting device and method for pipeline-cultivated leaf vegetables | |
| CN106473225B (en) | The tobacco leaf cut-out device and method that a kind of automatic charging is unpacked | |
| CN105325122A (en) | Fruit vibrating harvesting and vanning vehicle | |
| CN111167090B (en) | Badminton collection device for badminton training field | |
| CN114258783A (en) | Single fruit picking mechanical device suitable for mountain land operation and picking method thereof | |
| CN111713257B (en) | Spherical cutter type self-propelled famous and high-quality tea plucking machine | |
| CN109160450A (en) | A kind of macleaya cordata automatic loading-unloading machine and its automatic loading and unloading method | |
| US20240224866A1 (en) | Fruit Picking Robot and End Effector Therefore | |
| CN109757211A (en) | Efficient fruit picking | |
| CN105393706B (en) | Tendril class single fruit fruit and vegetable picking machinery arm | |
| CN113179863B (en) | Using method of edible fungus factory-like mushroom picking robot | |
| CN203968700U (en) | Fruit vibration results and vanning car | |
| CN102728556B (en) | Stem and leaf separating machine for mechanically picked fresh leaves | |
| CN205922069U (en) | Go up and down to pick car | |
| CN112429512A (en) | Stacking equipment of cold storage is stored to spoil that dies of illness | |
| CN208022371U (en) | A kind of automatic transloading equipment of spinning cake | |
| CN204408966U (en) | A kind of acquisition component of medlar-picking machine | |
| CN103144922B (en) | Vertical lifting device of materials | |
| CN211870655U (en) | Automatic change beet stacker | |
| CN214126083U (en) | Device is picked to winter jujube | |
| CN114916303A (en) | Self-propelled hydraulic drive potato multi-mode pickup bagging machine | |
| CN205972988U (en) | Automatic transplantation system of automobile -used glass | |
| CN111252520A (en) | Automatic change beet stacker | |
| CN207511386U (en) | Automatically rice seedling machine is played |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |