CN109677954A - A kind of automatic intelligent carloader - Google Patents
A kind of automatic intelligent carloader Download PDFInfo
- Publication number
- CN109677954A CN109677954A CN201910012017.1A CN201910012017A CN109677954A CN 109677954 A CN109677954 A CN 109677954A CN 201910012017 A CN201910012017 A CN 201910012017A CN 109677954 A CN109677954 A CN 109677954A
- Authority
- CN
- China
- Prior art keywords
- material grasping
- truck
- handgrip
- automatic intelligent
- frame
- 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.)
- Pending
Links
- 239000000463 material Substances 0.000 claims abstract description 84
- 230000002452 interceptive effect Effects 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 210000000481 breast Anatomy 0.000 description 4
- 210000000078 claw Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- 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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
Abstract
The present invention provides a kind of automatic intelligent carloader, solve the problems, such as that existing packed sack entrucking is difficult, including truck-loading rack and conveyer belt, one is equipped at the top of the truck-loading rack can be along the length direction of the truck-loading rack, the manipulator that width direction and length direction move respectively, the manipulator includes material grasping frame, movable stand below material grasping frame, the material grasping frame two sides have been respectively articulated with two handgrips, a connecting rod is respectively articulated between the movable stand and the handgrip for controlling the opening angle of the handgrip, the present invention detects the position of vehicle and the number of vehicle using video positioning system, controller issues order to carry out material grasping entrucking, using full automatic control mode, entrucking is high-efficient, bagged material can be put close to truck side wall, so that the loading of freight waggon of truck greatly increases, using flat material grasping , damage sack is not scraped, material is compressed and caught using upper and lower plates, and material grasping is tight, is not easy to loosen.
Description
Technical field
The present invention relates to the carrier loader technical fields of bagged material, refer in particular to a kind of automatic intelligent carloader.
Background technique
Bag cargo will be put into truck, be needed by manual handling, then bag cargo is folded entrucking, especially grain fiber crops
The entrucking of packet, it is higher and higher based on existing cost of labor, and handling work large labor intensity, difficulty of asking someone, manipulator start to popularize
Using for the ease of grabbing to truck cargo, needing the side plate of truck to open, but in practical operation, side plate weight depends on people
Work is opened, and truck driver is unwilling very much, therefore existing mode is that the side plate of truck is not opened, but by manipulator directly handle
Bag cargo is grabbed to truck, and existing tongs is all claw, and when claw handgrip unclamps cargo, handgrip side is needed
There is certain surplus that could open completely, therefore when entrucking, bagged material can not just be close to the side plate of truck, lead to truck
Can not overfill material, largely effect on the freight volume of truck, in addition, the size of vehicle is different, the parking position of vehicle is each
There is difference, when using manipulator packet capturing, manually adjusted every time, wastes working hour, entrucking low efficiency significantly.
Summary of the invention
In view of the above problems, being detected the present invention provides a kind of automatic intelligent carloader using video positioning system
The position of vehicle and the number of vehicle, are sent to controller, and controller issues order, by controlled level motor, longitudinal motor,
Lifting motor and material grasping motor carry out material grasping entrucking, and the present invention can put bagged material close to truck side wall, so that card
The loading of freight waggon of vehicle greatly increases, and using flat material grasping, does not scrape damage sack, material is compressed and caught using upper and lower plates, and material grasping is tight,
It is not easy to loosen, using full automatic control mode, entrucking is high-efficient.
To achieve the goals above, The technical solution adopted by the invention is as follows:
A kind of automatic intelligent carloader, the conveyer belt including truck-loading rack and on the inside of truck-loading rack, it is characterised in that: institute
It states and is equipped with a machinery that can be moved respectively along the length direction of the truck-loading rack, width direction and length direction at the top of truck-loading rack
Hand, the manipulator include material grasping frame and the material grasping motor in material grasping frame, and the material grasping frame lower section is along vertical
Direction slidably connects one by the motor-driven movable stand of the material grasping, and the material grasping frame two sides have been respectively articulated with two handgrips, institute
It states and is respectively articulated with the opening angle that a connecting rod is used to control the handgrip between movable stand and the two sides of the handgrip, it is described to grab
The opening angle of hand is no more than 180 °, and the movable stand both ends are respectively equipped with the pressure for the elasticity that one is oppositely arranged with the handgrip
Plate.
Preferably, video positioning system is additionally provided on the truck-loading rack for detecting the position of vehicle, the video location
The number of position and vehicle that vehicle stops is issued controller by system, and it is dynamic that controller issues order control manipulator progress material grasping
Make.
Preferably, each handgrip is tabular.
Preferably, the rack two sides are respectively provided with a material grasping arm being vertically arranged, and each material grasping arm end is hinged
In the handgrip.
Preferably, the material grasping arm is tabular, the handgrip and the material grasping arm with wide.
Preferably, the connecting rod bending setting makes it avoid interfering with material to be grabbed.
Preferably, it is connected with a screw rod frame immediately below the material grasping frame, is equipped with one on the screw rod frame and is connected to institute
The screw rod of material grasping motor working end is stated, which is connected to the movable stand for driving the movable stand to move up and down.
Preferably, the conveyer belt is from left to right respectively equipped with briquetting device, bag transfer and bag pulling mechanism.
Preferably, the length direction sliding at the top of the truck-loading rack along truck-loading rack is equipped with a crossbeam, edge dress on the crossbeam
The width direction sliding of vehicle frame is provided with a crane, is also equipped with a lift beam, the liter along the vertical direction on the crane
It drops beam bottom portion and connects the manipulator, horizontal motor is installed for driving the cross beam movement, the crane on the crossbeam
Equipped with a longitudinal motor for driving crane mobile, a lifting motor is additionally provided on the crane for driving the lifting
Beam moves up and down.
Preferably, the conveyer belt includes horizontal conveying belt, and the horizontal conveying belt bottom is connected with pipeline lifting
Device simultaneously drives the horizontal conveying belt to go up and down.
The invention has the advantages that:
The present invention registers length, width and the breast board height in compartment with the number of vehicle, in typing control system, uses
Video positioning system detects the position of vehicle and the number of vehicle, is sent to controller, and controller calculates vehicle deviation automatically
Desired trajectory and the adjust automatically in entrucking, controller issue order, pass through controlled level motor, longitudinal motor, lifting motor
And material grasping motor carries out material grasping entrucking, when material grasping, using the pressing plate and flat handgrip of elasticity come material grasping, the opening of handgrip
Angle is no more than 180 °, i.e., does not need too multi-sided surplus when handgrip unclamps, and bagged material can be filled close to truck side wall
It puts, so that the loading of freight waggon of truck greatly increases, using flat material grasping, does not scrape damage sack, compressed using upper and lower plates and catch object
Material, material grasping is tight, is not easy to loosen, and using full automatic control mode, entrucking is high-efficient.
Detailed description of the invention
Fig. 1 is perspective view of the invention；
Fig. 2 is main view of the invention；
Fig. 3 is top view of the invention；
Fig. 4 is enlarged drawing at the A of Fig. 1；
Fig. 5 is the perspective view of manipulator；
Fig. 6 is the main view of manipulator.
Specific embodiment
Technical solution of the present invention is illustrated with embodiment with reference to the accompanying drawing.
As shown in Figures 1 to 6, a kind of automatic intelligent carloader, including truck-loading rack 1 and conveyer belt 2, the conveyer belt 2
It is from left to right respectively equipped with briquetting device 3, bag transfer 4 and bag pulling mechanism 5, briquetting device 3 is whole rough sack
It puts down to uniform height, bag transfer 4 is as needed, sack horizontal direction to be rotated 90 ° or is not rotated, bag pulling mechanism 5 is
Sack is pushed away neatly, convenient for contraposition packet capturing, can be pushed together according to design requirement, three bags, can disposably pick up three bags,
Truck can be accommodated in truck-loading rack 1, truck, which drives into, carries out entrucking in truck-loading rack 1, the conveyer belt 2 includes positioned at truck-loading rack
The horizontal conveying belt 2a of 1 side, after truck, which drives into, to be come, horizontal conveying belt 2a is located at truck side, the horizontal conveying belt 2a
Bottom is connected with pipeline lifting device 6 and drives its lifting, its adjustable height, and general use height is 3m, so that
The height of horizontal conveying belt 2a is convenient for material grasping, 1 top of truck-loading rack is along truck-loading rack 1 close to the top of compartment breast board in this way
Length direction sliding is equipped with a crossbeam 7, and horizontal motor 8 is equipped on the crossbeam 7, and 1 top of truck-loading rack is square along its length
To rack gear is equipped with, the horizontal motor 8 is connected with an output gear by deceleration mechanism, which is engaged with rack, from
And crossbeam 7 is driven to move along the length direction of truck-loading rack 1.Width direction sliding on the crossbeam 7 along truck-loading rack 1 is provided with one
Crane 9, the crane 9 are equipped with a longitudinal motor 10 for driving crane 9 mobile, and particularly crossbeam 7 is equipped with rack gear,
The longitudinal motor 10 is connected with an output gear by deceleration mechanism, which engages with the rack gear on crossbeam 7, thus
Crane 9 is driven to move along the width direction of truck-loading rack 1.The crane 9 is equipped with a lift beam 11, the lifting along the vertical direction
11 side of beam has rack gear, is equipped with a lifting motor 12 on the crane 9 and lift beam 11 is driven to move up and down, specifically
That lift beam 11 is equipped with rack gear, the lifting motor 12 is connected with an output gear by deceleration mechanism, the output gear and
Rack gear engagement on lift beam 11, so that lift beam 11 be driven to move along the vertical direction.
11 bottom of lift beam be equipped with a manipulator 13, the manipulator 13 include material grasping frame 14 and be set to material grasping
Material grasping motor 15 in rack 14,14 lower section of material grasping frame slidably connect one along the vertical direction and are driven by the material grasping motor 15
Dynamic movable stand 16 is connected with a screw rod frame 17 immediately below the material grasping frame 14, is equipped with a screw rod on the screw rod frame 17
18, screw rod 18 is mounted on screw rod frame 17, more firm, which is connected to the working end of the material grasping motor 15, by
Material grasping motor 15 drives, and the screw rod 18 is threadedly connected to the movable stand 16 for driving the movable stand 16 to move up and down.Institute
It states 14 two sides of material grasping frame and has been respectively articulated with two handgrips 19, each handgrip 19 is tabular, when such material grasping, will not be scratched
Gunnysack is respectively articulated with a connecting rod 20 for controlling the handgrip 19 between the movable stand 16 and the two sides of the handgrip 19
Opening angle, the bending of connecting rod 20 setting make it avoid interfering with sack, and one end close to handgrip 19 in this way may be used toward outside sweep
Effectively to avoid it from interfering with sack.The opening angle of the handgrip 19 is no more than 180 °, i.e., is vertical side when handgrip 19 unclamps
To, 16 both ends of movable stand are respectively equipped with the pressing plate 21 for the elasticity that one is oppositely arranged with the handgrip 19, and pressing plate 21 is water
Flat setting, it is slidably connected along the vertical direction with movable stand 16, being additionally provided with spring between them allows pressing plate 21 elastic
Material is pushed, 14 two sides of material grasping frame are respectively provided with a material grasping arm 22 being vertically arranged, each 22 end of material grasping arm
It is articulated with the handgrip 19, the material grasping arm 22 is tabular, and the handgrip 19 and the material grasping arm 22 are same wide, when handgrip 19 is opened
When opening, maximum deployed position is exactly state in a vertical shape, no more than the outside of 19 arm of handgrip, therefore, when handgrip 19 does a good job of it bag
It when filling material, can be put down by the side wall of truck, be put into specified position, handgrip 19 unclamps, and cargo can be closely
The side wall of truck so that the loading of freight waggon of truck is more, when manipulator 13 works, material grasping motor 15 works, and drives movement
Frame 16 declines, and pressing plate 21 presses down, and has been pressed at the top of sack, and two connecting rods 20 control two handgrips 19 relatively altogether, catches sack
Bottom can thus pick up sack, therefore just can control pick-and-place material by controlling a material grasping motor 15, save material grasping electricity
The usage quantity of machine 15, reduces cost.
Specifically, horizontal conveying belt 2a is made of more rollers, sack conveys on roller, corresponding in manipulator 13
Material grasping station on roller length be shorten, in packet capturing, handgrip 19 will not interfere such handgrip 19 with roller, it is ensured that
Material grasping space.
Specifically, being additionally provided with video positioning system on the truck-loading rack 1 for detecting the position of vehicle, the video location
The number of position and vehicle that vehicle stops is issued controller by system, and it is dynamic that controller issues the order control progress material grasping of manipulator 13
Make, the working principle of vision positioning system: using CCD camera and 1394 serial capture cards, vision signal being inputted into computer,
And it is quickly handled.
It is first according to length, width and the breast board height for coming typing compartment, typing with the number of vehicle before present invention work
Into control system, when vehicle drives the lower section of truck-loading rack 1 into, position and the vehicle of vehicle are detected using video positioning system
Number, video positioning system routes the message to controller, the information of vehicles and just acquisition that control system is registered before
The vehicle location arrived compares preset vehicle parking position to adjust, while controlled level motor 8, longitudinal motor 10, lifting
Motor 12 and material grasping motor 15 carry out material grasping entrucking.Program can be set, sack is laterally put outside breast board height, top
One two-tier stacking is tapered, charges more, material is steady.The present invention is grabbed using the pressing plate 21 of elasticity with flat handgrip 19
Material, the opening angle of handgrip 19 are no more than 180 °, i.e., do not need too multi-sided surplus when handgrip 19 unclamps, can be bagged articles
Expect to put close to truck side wall, so that the loading of freight waggon of truck greatly increases, using flat material grasping, damage sack is not scraped, in use
Lower plate compresses and catches material, and material grasping is tight, is not easy to loosen, and using full automatic control mode, entrucking is high-efficient.
In the description of the present invention, it is to be understood that, the indicating positions such as term " on ", "lower", "left", "right" or position
Relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description of the present invention and simplification of the description, without referring to
Show or implies that signified device or element must have a particular orientation and specific orientation constructs and operation, it is thus impossible to
It is interpreted as limitation of the present invention.In addition, " first ", " second " are merely due to describe purpose, and should not be understood as indication or suggestion
Relative importance or the quantity for implicitly indicating indicated technical characteristic.Therefore, define " first ", the feature of " second " can
To explicitly or implicitly include one or more this feature.In description of the invention, unless otherwise indicated, " multiples' " contains
Justice is two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " phase
Even " " connection " etc. shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；
It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, can also be indirectly connected with by intermediary, it can be with
It is the connection inside two elements.For the ordinary skill in the art, it can understand that above-mentioned term exists with concrete condition
Concrete meaning in the present invention.
One embodiment of the present invention has been described in detail above, but the content is only preferable implementation of the invention
Example, should not be considered as limiting the scope of the invention.It is all according to all the changes and improvements made by the present patent application range
Deng should still be within the scope of the patent of the present invention.
Claims (10)
1. a kind of automatic intelligent carloader, the conveyer belt including truck-loading rack and on the inside of truck-loading rack, it is characterised in that: described
A manipulator that can be moved respectively along the length direction of the truck-loading rack, width direction and length direction is equipped at the top of truck-loading rack,
The manipulator includes material grasping frame and the material grasping motor in material grasping frame, and the material grasping frame lower section is along the vertical direction
One is slidably connected by the motor-driven movable stand of the material grasping, the material grasping frame two sides have been respectively articulated with two handgrips, the shifting
The opening angle that a connecting rod is used to control the handgrip is respectively articulated between moving frame and the two sides of the handgrip, the handgrip
Opening angle is no more than 180 °, and the movable stand both ends are respectively equipped with the pressing plate for the elasticity that one is oppositely arranged with the handgrip.
2. a kind of automatic intelligent carloader according to claim 1, it is characterised in that: be additionally provided with view on the truck-loading rack
Frequency positioning system is used to detect the position of vehicle, and the number of position and vehicle that vehicle stops is issued control by the video positioning system
Device processed, controller issue order control manipulator and carry out material grasping movement.
3. a kind of automatic intelligent carloader according to claim 1, it is characterised in that: each handgrip is plate
Shape.
4. a kind of automatic intelligent carloader according to claim 3, it is characterised in that: the rack two sides are respectively provided with
The one material grasping arm being vertically arranged, each material grasping arm end are articulated with the handgrip.
5. a kind of automatic intelligent carloader according to claim 4, it is characterised in that: the material grasping arm is tabular,
The handgrip and the material grasping arm are the same as wide.
6. a kind of automatic intelligent carloader according to claim 1, it is characterised in that: the connecting rod bending setting makes it
It avoids interfering with material to be grabbed.
7. a kind of automatic intelligent carloader according to claim 1, it is characterised in that: connect immediately below the material grasping frame
It is connected to a screw rod frame, a screw rod for being connected to material grasping motor working end is installed on the screw rod frame, which connects
The movable stand is connected to for driving the movable stand to move up and down.
8. a kind of automatic intelligent carloader according to claim 1, it is characterised in that: the conveyer belt from left to right divides
It She You not briquetting device, bag transfer and bag pulling mechanism.
9. a kind of automatic intelligent carloader according to claim 1, it is characterised in that: along entrucking at the top of the truck-loading rack
The length direction of frame, which slides, is equipped with a crossbeam, and the width direction sliding on the crossbeam along truck-loading rack is provided with a crane, institute
It states and is also equipped with a lift beam on crane along the vertical direction, the lift beam bottom connects the manipulator, pacifies on the crossbeam
Equipped with horizontal motor for driving the cross beam movement, the crane is equipped with a longitudinal motor for driving crane movement, institute
It states and is additionally provided with a lifting motor on crane for driving the lift beam to move up and down.
10. a kind of automatic intelligent carloader according to claim 1, it is characterised in that: the conveyer belt includes water
Flat conveyer belt, the horizontal conveying belt bottom are connected with pipeline lifting device and the horizontal conveying belt are driven to go up and down.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910012017.1A CN109677954A (en) | 2019-01-07 | 2019-01-07 | A kind of automatic intelligent carloader |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910012017.1A CN109677954A (en) | 2019-01-07 | 2019-01-07 | A kind of automatic intelligent carloader |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109677954A true CN109677954A (en) | 2019-04-26 |
Family
ID=66191935
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910012017.1A Pending CN109677954A (en) | 2019-01-07 | 2019-01-07 | A kind of automatic intelligent carloader |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109677954A (en) |
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| CN111487918A (en) * | 2020-04-26 | 2020-08-04 | 天地科技股份有限公司 | Bulk material unmanned loading control method, system and device based on multi-line laser radar |
| CN114851940A (en) * | 2022-07-11 | 2022-08-05 | 徐州道融智能设备有限公司 | Commodity circulation transportation is with automatic loading carriage of putting things in good order |
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|---|---|---|---|---|
| CN111487918A (en) * | 2020-04-26 | 2020-08-04 | 天地科技股份有限公司 | Bulk material unmanned loading control method, system and device based on multi-line laser radar |
| CN114851940A (en) * | 2022-07-11 | 2022-08-05 | 徐州道融智能设备有限公司 | Commodity circulation transportation is with automatic loading carriage of putting things in good order |
| CN114851940B (en) * | 2022-07-11 | 2022-11-29 | 徐州道融智能设备有限公司 | Commodity circulation transportation is with automatic loading carriage of putting things in good order |
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