CN109160450B - Automatic macleaya cordata unloading and loading machine and automatic unloading and loading method thereof - Google Patents
Automatic macleaya cordata unloading and loading machine and automatic unloading and loading method thereof Download PDFInfo
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- CN109160450B CN109160450B CN201810857324.5A CN201810857324A CN109160450B CN 109160450 B CN109160450 B CN 109160450B CN 201810857324 A CN201810857324 A CN 201810857324A CN 109160450 B CN109160450 B CN 109160450B
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
Abstract
An automatic macleaya cordata unloading and loading machine comprises a vehicle body (1), wherein toggle link mechanisms (20) are arranged on the vehicle body (1) in an axisymmetric manner, and the top ends of the toggle link mechanisms (20) are pivoted with a pair of fork plates (3) which are arranged in parallel; the toggle link mechanism (20) drives the pair of fork plates (3) to switch between a folding position and a squatting position; when the folding and lifting position is reached, the transverse moving shaft (22) is positioned at the left end of the sliding chute (4), the straight arm (25.2) is vertically supported below the fork plate (3), and the fork plate (3) is positioned at a first height (H) away from the fixed shaft (21)1) When the squatting position is reached, when the transverse moving shaft (22) is positioned at the right end of the sliding chute (3), the straight arm (25.2) rotates clockwise around the transverse moving shaft (23) from the vertical direction through a forward inclination angle (α) so that the fork plate (3) moves forwards and horizontally by a forward distance (L)1) While moving downwards until the fork plate (3) is at a second height (H) from the fixed axis2). The automatic macleaback unloading and loading machine and the loading and unloading method thereof have the advantages of accurate action, simple structure and single control, and can easily complete unmanned automatic work.
Description
Technical Field
The invention relates to the technical field of Chinese herbal medicine processing, in particular to an automatic macleaya cordata unloading and loading machine and an automatic unloading and loading method thereof.
Background
Macleaya cordata R (W ill) of Papaveraceae, Brown is perennial herb with the height of 1-2 m, white powder is on the surface of the plant, and yellow juice flows out after the stem and leaf are broken. The stem is cylindrical, hollow, green, and sometimes reddish purple. The single leaf grows alternately, is wide and oval, has irregular wavy teeth and splinters, is green and smooth in leaf surface, white in leaf back and covered with dense fine hair. White flower, inverted egg-shaped and oblong capsule, flat and red, and 4-6 seeds.
The stem, leaf and fruit of Macleaya cordata all contain alkaloid. The content of these alkaloids varies in the individual organs of the plant. The experimental result shows that the alkaloid content in the aerial parts of the macleaya cordata plants in the same growth period and the same planting area is fruit, leaf and stem. In Zhejiang, 7-11 months are the time of the seed of the Macleaya cordata. At this stage, macleaya cordata fruits should be harvested for extraction of their alkaloids. The alkaloid content in each organ of the wild macleaya cordata plant is higher than that of the wild macleaya cordata plant. Therefore, the macleaya cordata alkaloid product with higher dosage is required to be harvested in wild, classified and stored in different classification frames for being processed by a freeze dryer.
The vacuum freeze dryer needs to freeze first, then sends the material into the drying chamber for vacuum drying, and the pumped water vapor is captured in the cold trap until the material reaches a certain equilibrium moisture content. The independently designed vacuum freeze dryer loads and unloads materials from the freezing chamber to the vacuum drying chamber manually, and the long-term loading and unloading of ice-cold materials has great influence on human bodies, so that automatic unloading equipment needs to be researched and developed to meet the unmanned automatic unloading task of the materials from the freezing chamber to the vacuum drying chamber.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention provides an automatic macleaya cordata unloading and loading machine and an automatic unloading and loading method thereof.
The invention aims to realize that the automatic macleaya cordata unloading and loading machine is used for unloading a macleaya cordata drying box from a pre-freezing chamber and loading the macleaya cordata drying box into a drying chamber and comprises a vehicle body,
the top end of the crank connecting rod mechanism is pivoted with a pair of fork plates which are arranged in parallel;
the elbow-bending connecting rod mechanism comprises a fixed shaft, an elbow joint shaft, a transverse moving shaft, a humerus rod and an ulna rod, one end of the humerus rod is pivoted to the fixed shaft, the other end of the humerus rod and the ulna rod are pivoted to the elbow joint shaft together, the other end of the ulna rod is pivoted to the transverse moving shaft, the ulna rod comprises a bent arm and a vertical arm which are integrally connected through a corner, the connecting part of the bent arm and the vertical arm is pivoted to the transverse moving shaft, and the top end of the ulna rod is pivoted to the bottom of the fork plate; the transverse moving shaft is movably arranged in a sliding chute which is arranged on the vehicle body;
the toggle link mechanism drives the pair of fork plates to switch between a folding position and a squatting position; when the movable support is in a folding position, the transverse moving shaft is positioned at the left end of the sliding groove, the straight arm is vertically supported below the fork plate, and the fork plate is positioned at a first height from the fixed shaft; when the squatting position is reached, when the transverse moving shaft is positioned at the right end of the sliding groove, the straight arm rotates clockwise around the transverse moving shaft from the vertical direction by a forward inclination angle, so that the fork plate moves forwards by a forward distance horizontally and moves downwards to a position where the fork plate is positioned at a second height from the fixed shaft.
Furthermore, the bent arm is equal to the humerus rod in length, and the fixed shaft and the transverse shaft are positioned on the same horizontal line.
Furthermore, when the toggle link mechanism drives the pair of fork plates to switch from the folding position to the squatting position, L is1Is the forward movement distance of the fork plate, L0The transverse distance of the transverse moving shaft when the transverse moving shaft is switched between the retracting position and the squatting position is α, the forward inclination angle of the vertical arm rotated from the vertical direction is α, L is the length of the vertical arm, and the formula is satisfied, wherein L is1＝L0+L sinα。
The device further comprises an actuator, wherein the actuator is an oil cylinder, a piston rod of the oil cylinder is connected with a transverse moving shaft of the front crank link mechanism, and the transverse moving shaft of the front crank link mechanism is connected with a transverse moving shaft of the rear crank link mechanism through a linkage rod.
The trolley further comprises an actuator, wherein the actuator is an auxiliary rail which is arranged on two sides of a rail on which the trolley rollers run; the elbow joint shaft of the crank connecting rod mechanism is rotatably provided with a guide wheel, and the guide wheel is in rolling and abutting connection with the auxiliary track.
Further, the secondary rail comprises a first rail plane, a slope rail and a second rail plane which are sequentially connected end to end, and the second rail plane and the rails are in the same horizontal plane.
Furthermore, the distance between the first track plane and the second track plane is equal to the height difference of the elbow joint shaft when the toggle link mechanism drives the pair of fork plates to switch between the folding and lifting position and the squatting position.
Furthermore, two ends of the fork plate (3) are provided with a pivot shaft and a hub motor, the left finger rod and the right finger rod are respectively and rotatably arranged on the pivot shaft, and the hub motor drives the left finger rod and the right finger rod to rotate and switch between a vertical position and a droop position; when the left finger is located at the vertical position, the right finger is located at the sagging position.
A loading and unloading method of the automatic macleaya cordata unloading and loading machine,
comprises that
1) The empty wagon moves along the rail until the unloading moment;
2) a box unloading action of unloading the drying box from the rotary arm of the pre-freezing chamber;
3) the vehicle-mounted drying box moves along the track in the opposite direction until the box unloading moment;
4) a boxing action of unloading from the automatic unloader onto the insert rod of the drying chamber;
the unloading time is as follows: and when the rotating arm of the pre-freezing chamber is rotated to be aligned with the rail, the automatic unloading and loading machine moves along the rail to the end part of the fork plate, and the distance from the end part of the fork plate to the edge of the drying box is the interval distance, and the interval distance is greater than the forward moving distance of the fork plate when the crank connecting rod mechanism drives the pair of fork plates to switch from the folding and lifting positions to the squatting position.
Further, the box unloading action of unloading the drying box from the rotary arm of the pre-freezing chamber comprises
Step 1) squat bottom fork action
The transverse moving shaft moves forwards from the left end of the sliding chute to the right end of the sliding chute, so that the toggle link mechanism drives the pair of fork plates to be switched from the folding position to the squatting position, and the height position of the fork plates is just 3-5mm lower than the height position of the abutting surface at the bottom of the drying box inserted on the rotating arm; the vehicle body moves forward, the fork plate extends into the position right below the abutting surface at the bottom of the drying box until the left finger rod at the vertical position abuts against the left wall of the drying box, the vehicle body is stopped, the left finger rod rotates to the droop position from the vertical position, and the right finger rod rotates to the vertical position from the droop position;
step 2) standing, straight-up and forking actions
The vehicle body is fixed in place, the transverse moving shaft moves from the right end of the sliding chute to the left end of the sliding chute, so that the toggle link mechanism drives the pair of fork plates to be switched from the squatting position to the lifting position, and the fork plates are switched from the second height H2Move to the first height H1The drying box is forked up by the fork plate and separated from the rotating arm by a height difference H2-H1And finishing the standing, straight forking and lifting actions.
The macleaya cordata automatic unloading and loading machine and the unloading and loading method thereof are used for solving the technical problem of unmanned automatic unloading from a freezing chamber to a vacuum drying chamber, and the machine adopts the following technical means:
1) crank connecting rod mechanism driving connecting fork plate
The fork plate is driven by the toggle link mechanism to be switched from the folding and lifting position to the stretching and squatting position, so that the action requirement of 'extending forward' and 'descending' of the butt surface of the bottom of the drying box when the fork plate is inserted into the drying box is met, and the action requirement of 'lifting up' and 'advancing' of the drying box by the fork plate is met when the fork plate is switched from the stretching and squatting position to the folding and lifting position.
2) Driving of toggle linkage
In the fixed shaft, the transverse moving shaft and the elbow joint shaft, the fixed shaft is fixed, only the transverse moving shaft can move left and right, and in addition, the elbow joint shaft can rotate around the fixed shaft, so that two alternative actuators are designed, one actuator is an oil cylinder which drives the transverse moving shaft to move left and right, the other actuator is an auxiliary track, and the slope track of the auxiliary track guides the elbow joint shaft to enable the elbow joint shaft to move forwards and simultaneously raise a height, namely the elbow joint shaft rotates by a certain angle, so that the clockwise rotation of the vertical rod is realized. The automatic control only comprises the control of the moving speed of the trolley and the control of the left finger plate and the right finger plate, and the control factor is single.
The toggle linkage drives the fork plate and the actuator drives the toggle linkage, so that the two aspects are synergistic.
According to the automatic macleaya cordata unloading and loading machine and the loading and unloading method thereof, the actuator drives the toggle link mechanism, the toggle link mechanism drives the fork plate, the macleaya cordata drying box is automatically loaded and unloaded, the action is accurate, the structure is simple, the control is single, and unmanned automatic work can be easily completed.
Drawings
Fig. 1 is a front sectional view of a macleaya cordata automatic unloading and loading machine according to a first embodiment of the present invention.
Fig. 2 is a top view of a first embodiment of the automatic macleaback unloading machine of the present invention.
Fig. 3 is a front sectional view of a second embodiment of the automatic macleaya cordata unloader of the present invention.
Fig. 4 is a top view of a second embodiment of the automatic macleaback unloading machine of the present invention.
Fig. 5 is a working state diagram of a second embodiment of the automatic macleaya cordata unloading machine of the present invention.
Fig. 6 is a schematic diagram of a toggle link mechanism of the automatic macleaya cordata unloading and loading machine of the invention.
Reference numerals in the above figures:
1 car body, 2 openings, 3 fork plates, 4 chutes, 5 tracks, 6 left finger rods, 7 right finger rods, 8 rollers and 8.1 roller guide grooves
20 crank-link mechanism, 21 fixed shaft, 22 elbow joint shaft, 23 transverse shaft, 24 humerus rod, 25 ulna rod, 26 linkage rod
30 actuator
44 accommodation groove
20.1 front toggle linkage, 20.2 rear toggle linkage
25.1 bent arm, 25.2 vertical arm
50 pairs of tracks, 50.1 first track plane, 50.2 second track plane, 50.3 ramp track
Detailed Description
The following detailed description of the embodiments of the present invention is provided in connection with the accompanying drawings, but is not intended to limit the scope of the invention.
Example one
As shown in fig. 1, an automatic unloading and loading machine for a macleaya cordata drying box comprises a vehicle body 1, wherein the vehicle body 1 is provided with a Y symmetry axis and an X symmetry axis; the automobile body 1 is equipped with opening 2, and opening 2 is equipped with four bent elbow link mechanism 20 with Y symmetry axis axisymmetric ground and with X symmetry axis axisymmetric ground, a pair of fork board 3 of bent elbow link mechanism 20 top pin joint, fork board 3 surface are equipped with protruding muscle.
The toggle link mechanism 20 comprises a fixed shaft 21, an elbow joint shaft 22, a transverse moving shaft 23, a humerus rod 24 and an ulna rod 25, wherein one end of the humerus rod 24 is pivoted to the fixed shaft 21, the other end of the humerus rod 24 and the ulna rod 25 are pivoted to the elbow joint shaft 22, the other end of the ulna rod 25 is pivoted to the transverse moving shaft 23, the ulna rod 25 comprises a bent arm 25.1 and a vertical arm 25.2 which are integrally connected through a corner β, the corner β is preferably 120-160 degrees, the transverse moving shaft 23 is pivoted at the joint of the bent arm and the vertical arm, the top end of the ulna rod 25 is pivoted to the bottom of the fork plate 2, the transverse moving shaft 23 is located in the sliding groove 4, the sliding grooves 4 are located on two sides of the opening 2, and the bent arm 25.1 is.
The toggle link mechanism 20 drives the pair of fork plates 3 to switch between a folding position and a squatting position; in the retracted position, the traversing shaft 23 is located at the left end of the sliding groove 4, the vertical arm 25.2 is vertically supported below the fork plate 3, and the fork plate 3 is located at a first height H away from the fixed shaft 211In the squatting position, when the transverse shaft 23 is positioned at the right end of the sliding chute 4, the elbow joint shaft 22 is raised by the height difference H, and the vertical arm 25.2 rotates clockwise around the transverse shaft 23 from the vertical direction by a forward inclination angle α, so that the fork plate 2 moves forwards and horizontally by the forward distance L1While moving downwards to a second height H at a level of the fork 3 from the fixed axis2Second height H2Is less than the first height H1. At this time, if the length of the vertical arm 25.2 is greater than the length of the bent arm 25.1, H>H2-H1(ii) a If the vertical arm 25.2 and the curved arm 25.1 are of equal length, H is H2-H1(ii) a H if the length of the vertical arm 25.2 is less than the length of the curved arm 25.1<H2-H1。
The toggle linkage 20 comprises a front toggle linkage 20.1 and a rear toggle linkage 20.2.
As shown in the figure, the transverse moving shaft 23 transversely moves in the sliding chute 4 for a distance L0The length of the curved arm 25.1 and the humeral stem 24 affects the amount of anteversion angle α that traverses a vertical wall of a given length, and anteversion angle α affects the height of the downshifting, as shown in equation (1):
L1＝L0+L sinα (1)
wherein L1 is the forward moving distance of the fork plate when the toggle link mechanism 20 is switched from the retracting position to the squatting position, L0 is the transverse moving distance when the transverse moving shaft 23 is switched from the retracting position to the squatting position, α is the forward inclination angle α of the vertical arm 25.2 rotated from the vertical direction, L is the length of the vertical arm 25.2, and the forward inclination angle α is preferably 30-60 degrees.
The actuator 30 is preferably a hydraulic cylinder, a piston rod of the actuator 30 is connected with the transverse shaft 23 of the front crank connecting rod mechanism 20.1, and the transverse shaft 23 of the front crank connecting rod mechanism 20.1 is connected with the transverse shaft 23 of the rear crank connecting rod mechanism 20.2 through a linkage rod 26. An actuator 30 is fixed to the vehicle body.
The two ends of the fork plate 3 are respectively rotatably connected with a left finger rod 6 and a right finger rod 7, a hub motor is arranged at the pivot shaft of the left finger rod 6 and drives the left finger rod 6 and the right finger rod 7 to rotate and switch between a vertical position and a drooping position.
The said automatic loading and unloading machine needs to load the said drying box while unloading from the tumbler of the pre-freezing chamber, and transport and unload and load to the tumbler of the drying chamber at the same time, there are tracks 5 between drying chamber and pre-freezing chamber, the car body is guided and rolled and set on the track 5. The drying box 40 comprises slots symmetrically arranged along a central line, abutting surfaces are arranged on the outer sides of the slots, and guide grooves are formed in the abutting surfaces.
The drying box 40 is inserted into the slot
The automatic loading and unloading machine is inserted on a rotating arm of a pre-freezing chamber, the automatic loading and unloading machine completes unloading and loading actions in such a way, ① squat down horizontal forks act, when the rotating arm of the pre-freezing chamber rotates to be aligned with a track 5, a transverse moving shaft 23 moves forwards to the right end of a sliding groove 4, so that a toggle link mechanism 20 drives a pair of fork plates 3 to be located at a squat extending position, the height position of the fork plates 3 is just 3-5mm lower than the height position of a butting surface at the bottom of a drying box inserted on the rotating arm, a vehicle body moves forwards, the fork plates 3 extend into the lower part of the butting surface at the bottom of the drying box until a left finger rod at the vertical position butts against the left wall of the drying box, the vehicle body is stopped, the left finger rod rotates from the vertical position to a drooping position, a right finger rod rotates from the drooping transverse moving position to the vertical position, ② standing and moves backwards to the left end of the sliding groove 4, so that the toggle link mechanism 20 drives the pair of2Move to the first height H1The ribs of the fork plate 3 are embedded into the guide grooves of the abutting surfaces to fork the drying box 40 away from the rotating arm by a height difference H2-H1And finishing the standing, straight forking and lifting actions. Thus, the loading and unloading of the drying box are completed by the automatic loading and unloading machine.
Moving the robot in the opposite directionA loading and unloading machine, wherein a ① squat flat fork moves along the track to the front of a rotating arm of a drying chamber, a transverse moving shaft 23 moves forwards from the left end to the right end of a sliding groove 4, so that a toggle link mechanism 20 drives a pair of fork plates 3 to switch from a receiving position to a stretching position, the height of the fork plates is reduced along with the forward movement of a drying box driven by the fork plates 3, a slot of the drying box falls onto the rotating arm of the drying chamber, the squat flat fork moves, a vehicle body continues to move, the drying box 40 is pushed to abut against the previous drying box along the rotating arm, the vehicle body retreats, the fork plates 3 are drawn out from the lower part of the drying box, a left finger rod rotates from a dropping position to a vertical position, a right finger rod rotates from the vertical position to a dropping position, a ② standing straight fork moves, the transverse moving shaft 23 from the right end to the left end of the sliding groove 4, so that the toggle link mechanism 20 drives the pair of fork plates 3 to switch2Is raised to a first height H1And finishing the standing, straight forking and lifting actions. Thus, the loading and unloading of the drying box are completed by the automatic loading and unloading machine.
4 gyro wheels 8 are equipped with to automobile body 1 below symmetry, and gyro wheel 8 is equipped with gyro wheel guide slot 8.1, and gyro wheel 8 rolls through gyro wheel guide slot 8.1 and sets up on track 5.
That is, when the robot moves in the middle of the track, the toggle link mechanism 20 is in the retracted position, and only when the fork 3 is 3-5mm in front of the drying cabinet, the toggle link mechanism 20 is switched from the retracted position to the extended position, and by the action of "extend" for "squat", either the empty fork 3 is inserted below the abutting surface of the drying cabinet or the drying cabinet is dropped onto the drying cabinet turning arm from the fork 3 abutting the drying cabinet 40, and when the drying cabinet is removed from the pre-freezing cabinet, the standing and straight forking action ② is required immediately, and when the robot is removed from the drying cabinet turning arm, the standing and straight forking action ② is required to be successively moved.
Due to the guiding effect of the roller guide groove 8.1 and the fork plate convex rib, the drying box can just fall on the rotating arm of the drying chamber, or the fork plate can just be forked under the abutting surface, and even if an error exists, the error can be corrected through the fork plate convex rib.
After the rotating arms of the drying chamber are provided with a plurality of drying boxes in series, the rotating arms of the drying chamber rotate by a fixed angle, and the next rotating arm continues to wait for loading in front of the track 5 until all the rotating arms are loaded on a plurality of rotating arms of the drying chamber. The automatic loading and unloading machine meets the coordination loading and unloading between the continuous production of the pre-freezing chamber and the interval production of the drying chamber, when the rotating arm of the pre-freezing chamber continuously and slowly rotates at a certain speed, the time for rotating the rotating arm opposite to the track to the next rotating arm opposite to the track is the interval time t, and in the interval time t, the automatic loading and unloading machine needs to finish the loading action in front of the pre-freezing chamber, move to the front of the drying chamber to finish the unloading action and return to the front of the rotating arm of the pre-freezing chamber. Therefore, an automatic control program is required to complete a whole set of action setting strictly according to the specified time, and automatic loading and unloading in the unmanned freezing space are achieved.
Example two
The actuator 30 is a secondary rail 50, and the secondary rail 50 is arranged on two sides of the rail 5; the toggle link mechanism 20 has a guide wheel rotatably provided on an elbow shaft 22. The guide wheels roll against the sub-track 50.
The two sets of the auxiliary tracks 50 are provided, the elbow joint shaft 22 of the front crank connecting rod mechanism 20.1 is over against the auxiliary track 50 on one side of the track 5, and the elbow joint shaft 22 of the rear crank connecting rod mechanism 20.2 is over against the auxiliary track 50 on the other side of the track 5.
The auxiliary track 50 comprises a first track plane 50.1, a slope track 50.3 and a second track plane 50.2 which are sequentially connected end to end, and the second track plane 50.2 and the track 5 are in the same horizontal plane. The inclined angle γ between the slope track 50.3 and the second track plane 50.2 is equal to the angle between the axis connecting line of the elbow joint shaft 22 and the horizontal plane when the toggle link mechanism 20 drives the pair of fork plates 3 to switch from the retracted position to the squat position.
The distance between the first track plane 50.1 and the second track plane 50.2 is equal to the height difference H of the elbow joint shaft 22 when the toggle linkage 20 drives the pair of fork plates 3 to switch between the folding position and the squatting position.
According to the automatic macleaya cordata unloading and loading machine and the loading and unloading method thereof, the actuator drives the toggle link mechanism, the toggle link mechanism drives the fork plate, the macleaya cordata drying box is automatically loaded and unloaded, the action is accurate, the structure is simple, the control is single, and unmanned automatic work can be easily completed.
Claims (10)
1. An automatic macleaya cordata unloading and loading machine is used for unloading a drying box from a pre-freezing chamber and loading the drying box into the drying chamber, and comprises a vehicle body (1) and is characterized in that,
the vehicle body (1) is provided with a toggle link mechanism (20) in an axisymmetric manner, and the top end of the toggle link mechanism (20) is pivoted with a pair of fork plates (3) which are arranged in parallel;
the toggle link mechanism (20) comprises a fixed shaft (21), an elbow joint shaft (22), a transverse moving shaft (23), an upper arm bone rod (24) and an ulna rod (25), one end of the upper arm bone rod (24) is pivoted on the fixed shaft (21), the other end of the upper arm bone rod (24) and the ulna rod (25) are pivoted on the elbow joint shaft (22) together, the other end of the ulna rod (25) is pivoted on the transverse moving shaft (23), the ulna rod (25) comprises a bent arm (25.1) and a vertical arm (25.2) which are integrally connected through a corner (β), the connecting part of the bent arm and the vertical arm is pivoted on the transverse moving shaft (23), the top end of the ulna rod (25) is pivoted at the bottom of a fork plate (3), the transverse moving shaft (23) is movably arranged in a sliding chute (4), and the sliding chute (4);
the toggle link mechanism (20) drives the pair of fork plates (3) to switch between a folding position and a squatting position; when the folding and lifting position is reached, the transverse moving shaft (23) is positioned at the left end of the sliding chute (4), the vertical arm (25.2) is vertically supported below the fork plate (3), and the fork plate (3) is positioned at a first height (H) away from the fixed shaft (21)1) When the squatting position is reached, when the transverse moving shaft (23) is positioned at the right end of the sliding groove (4), the vertical arm (25.2) rotates clockwise around the transverse moving shaft (23) from the vertical direction through a forward inclination angle (α), so that the fork plate (3) moves forwards and horizontally by a forward distance (L)1) While moving downwards until the fork plate (3) is at a second height (H) from the fixed axis2）。
2. The machine according to claim 1, wherein the curved arm (25.1) is of equal length to the humeral stem (24), and the fixed axis (21) and the traversing axis (23) are located on the same horizontal line.
3. The macleaya cordata automatic unloading and loading machine of claim 1, whereinWhen the toggle link mechanism (20) drives the pair of fork plates (3) to switch from the folding position to the squatting position, L1Is the forward movement distance of the fork plate, L0The transverse moving distance (L) when the transverse moving shaft (23) is switched from the folding position to the squatting position0) α is the forward tilt angle (α) of the vertical arm (25.2) rotated from vertical, L is the length of the vertical arm (25.2), satisfying the formula:
。
4. the macleaback automatic unloading and loading machine according to claim 1, further comprising an actuator (30), wherein the actuator (30) is a cylinder, the toggle linkage (20) comprises a front toggle linkage (20.1) and a rear toggle linkage (20.2), a piston rod of the cylinder is connected with the traversing shaft (23) of the front toggle linkage (20.1), and the traversing shaft (23) of the front toggle linkage (20.1) is connected with the traversing shaft (23) of the rear toggle linkage (20.2) through a linkage (26).
5. The macleaback automatic unloading and loading machine according to claim 1, further comprising an actuator (30), wherein the actuator (30) is a secondary rail (50), and the secondary rail (50) is arranged on both sides of the rail (5) on which the trolley wheels run; a guide wheel (27) is rotatably provided on an elbow joint shaft (22) of the toggle link mechanism (20), and the guide wheel (27) is in rolling contact with the sub-rail (50).
6. The macleaback automatic unloader according to claim 5, wherein the sub-rail (50) comprises a first rail plane (50.1), a ramp rail (50.3) and a second rail plane (50.2) connected end to end in this order, the second rail plane (50.2) being level with the rail (5).
7. The machine according to claim 6, characterised in that the first plane (50.1) is lower than the second plane (50.2) by a distance equal to the height difference (H) of the elbow joint axis (22) when the toggle linkage (20) moves the pair of fork plates (3) between the retracted and extended positions.
8. The automatic macleaya cordata unloading and loading machine according to claim 1, characterized in that, both ends of the fork plate (3) are provided with a pivot shaft and a hub motor, the left finger rod (6) and the right finger rod (7) are respectively and rotatably arranged on the pivot shaft, and the hub motor drives the left finger rod (6) and the right finger rod (7) to rotate and switch between a vertical position and a drooping position; when the left finger is located at the vertical position, the right finger is located at the sagging position.
9. A method of loading and unloading the automatic macleaback unloading and loading machine according to any one of claims 1 to 8,
comprises that
1) The empty wagon moves along the rail until the unloading moment;
2) a box unloading action of unloading the drying box from the rotary arm of the pre-freezing chamber;
3) the vehicle-mounted drying box moves along the track in the opposite direction until the box unloading moment;
4) a boxing action of unloading from the automatic unloader onto the insert rod of the drying chamber;
the unloading time is as follows: when the rotating arm of the pre-freezing chamber is rotated to be aligned with the rail (5), the automatic unloading and loading machine walks along the rail (5) to implement the step 2) or the step 4 when the distance between the end part of the fork plate and the edge of the drying box is a spacing distance (D), and the spacing distance (D) is larger than the forward moving distance (L) of the fork plate when the toggle link mechanism (20) drives the pair of fork plates (3) to switch from the folding and lifting positions to the stretching and squatting positions1）。
10. The loading and unloading method of the automatic macleaback unloading and loading machine according to claim 9,
the box unloading action of unloading the drying box from the rotary arm of the pre-freezing chamber comprises
Step 1) squat bottom fork action
The transverse moving shaft (23) moves forwards from the left end of the sliding chute to the right end of the sliding chute (4), so that the toggle link mechanism (20) drives the pair of fork plates (3) to be switched from a folding position to a squatting position, and the height position of the fork plates (3) is just 3-5mm lower than the height position of an abutting surface (42) at the bottom of the drying box inserted on the rotating arm; the vehicle body moves forward, the fork plate (3) extends into the position right below the abutting surface (42) at the bottom of the drying box until the left finger rod (6) at the vertical position abuts against the left wall of the drying box, the vehicle body is stopped, the left finger rod rotates to the droop position from the vertical position, and the right finger rod rotates to the vertical position from the droop position;
step 2) standing, straight-up and forking actions
The vehicle body is fixed in place, the transverse moving shaft (23) moves from the right end of the sliding chute to the left end of the sliding chute (4), so that the toggle link mechanism (20) drives the pair of fork plates (3) to be switched from the squatting position to the lifting position, and the fork plates (3) are switched from the second height H2Move to the first height H1The drying box is forked up by the fork plate (3) and separated from the rotating arm by a height difference H2-H1And finishing the standing, straight forking and lifting actions.
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 CN109160450A (en) | 2019-01-08 |
| CN109160450B true CN109160450B (en) | 2020-02-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| 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 |
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| Country | Link |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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|---|---|---|---|---|
| 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 |
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| 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 |
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| CN109160450A (en) | 2019-01-08 |
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