CN111017581A

CN111017581A - Material bag swinging device and loading stacking system

Info

Publication number: CN111017581A
Application number: CN202010090074.4A
Authority: CN
Inventors: 刘长勇; 王滨; 闫俊存; 吕丹; 李云浩
Original assignee: Qingdao Xinsong Robot Automation Co ltd
Current assignee: Qingdao Xinsong Robot Automation Co ltd
Priority date: 2020-02-13
Filing date: 2020-02-13
Publication date: 2020-04-17

Abstract

The invention discloses a material bag swinging device and a loading stacking system. The material bag swinging device comprises a belt conveyor, a guide plate, a bag pushing motor, a bag pushing baffle and a steering baffle; the belt conveyor is used for conveying the material bags, the material bags are cuboid, and the length direction of the material bags is perpendicular to the conveying direction of the belt conveyor when the material bags enter the belt conveyor; the guide plate is arranged on one side of the belt conveyor; the bag pushing motor is arranged on the other side of the belt conveyor and corresponds to the guide plate; the bag pushing baffle is arranged on a bracket of the bag pushing motor and corresponds to the guide plate; the steering baffle is arranged on one side of the belt conveyor, which is provided with the guide plate; and one end of the steering baffle facing the guide plate is provided with a blocking block for blocking one corner of the material bag and enabling the material bag to rotate.

Description

Material bag swinging device and loading stacking system

Technical Field

The invention relates to the technical field of cargo handling, in particular to a material bag swinging device and a loading and stacking system.

Background

With the continuous development of automation level, more and more industries realize automatic assembly, production and detection. The goods storage, loading and unloading field develops to present, and automatic stacking and disassembling are gradually realized by traditional manual stacking.

However, in the field of loading, tray stacking, manual loading and semi-automatic loading are adopted at present. Therefore, the automation level in the field of loading is improved, manual loading is replaced by automatic loading, and the automatic loading is a necessary development trend in the field of future loading.

This kind of mode of present tray pile up neatly, semi-automatic loading is for traditional artifical loading, has saved not few time and human cost, but this kind of loading mode need increase the tray cost, can not leave the manual work completely moreover, and the loading can cause the injury even to the human body under adverse circumstances.

The existing loading mode is difficult to separate from manual work due to high dependence on the manual work, so that the loading efficiency is low, the labor cost is high, and the development of propelling automatic loading is not facilitated.

Disclosure of Invention

The invention aims to provide a material bag swinging device and a loading stacking system, which are used for solving the technical problems that the existing loading mode is low in loading efficiency and high in labor cost and is not beneficial to propelling the development of automatic loading due to the fact that the existing loading mode is high in dependence on workers and difficult to separate from the workers.

In order to achieve the purpose, the invention provides a material bag swinging device which comprises a belt conveyor, a guide plate, a bag pushing motor, a bag pushing baffle and a steering baffle; specifically, the extending direction of the belt conveyor is the same as the extending direction of the travelling mechanism, the upper surface of the belt conveyor is used for conveying the material bag, the material bag is cuboid, and the length direction of the material bag is perpendicular to the conveying direction of the belt conveyor when the material bag enters the belt conveyor; the guide plate is arranged on one side of the belt conveyor; the bag pushing motor is arranged on the other side of the belt conveyor and corresponds to the guide plate; the bag pushing baffle is arranged on a support of the bag pushing motor and corresponds to the guide plate, the opening of the guide plate and the bag pushing baffle on one side of the input end of the belt conveyor is larger than the opening of the guide plate and the bag pushing baffle on one side of the output end of the belt conveyor, and the bag pushing motor is used for reducing the opening of the guide plate and the bag pushing baffle on one side of the output end of the belt conveyor; the steering baffle is arranged on one side of the belt conveyor, which is provided with the guide plate; and one end of the steering baffle facing the guide plate is provided with a blocking block for blocking one corner of the material bag and enabling the material bag to rotate.

Furthermore, the belt conveyor is obliquely arranged, one end of the belt conveyor is connected with the material bag conveying device, and the other end of the belt conveyor is connected with the single-layer material bag grouping device.

Further, the inclination angle of the belt conveyor and the horizontal plane is 5-45 degrees.

The invention also provides a loading and stacking system which comprises any material bag swinging device.

Further, the truck loading and stacking system further comprises a material bag conveying device and a single-layer material bag team forming device; the material bag conveying device is used for conveying material bags; the input end of the material bag swinging device is horizontally connected with the output end of the material bag conveying device; the input end of the single-layer material bag grouping device is horizontally connected with the output end of the material bag swinging device, and the single-layer material bag grouping device is used for receiving the material bags from the material bag swinging device and forming single-layer material bags according to a preset stacking mode.

Further, the single-layer material bag grouping device comprises a fixed mounting frame, a first transmission mechanism and a second transmission mechanism; specifically, the fixed mounting frame is provided with a connection area and a material buffer area, and the connection area is opposite to the material bag swinging device; the fixed mounting frame is comb-shaped and is provided with a fixed part far away from the material bag swinging device and a plurality of mounting seats close to the material bag swinging device, and the mounting seats are arranged at intervals and are vertically connected to the fixed part; the first transmission mechanism is arranged in the connection area in a lifting manner, and the transmission direction of the first transmission mechanism is the same as that of the material bag swinging device; when the first transmission mechanism is lifted, the input end of the first transmission mechanism is horizontally connected with the output end of the material bag swinging device; the second transmission mechanism is arranged on the fixed mounting frame, the connection area and the first transmission mechanism are arranged at intervals, and the transmission direction of the second transmission mechanism is vertical to that of the first transmission mechanism; when the first transmission mechanism descends, the plane of the first transmission mechanism is lower than the plane of the second transmission mechanism.

Further, the fixed mounting frame comprises a comb-shaped base and a connecting frame; the comb-shaped base is provided with a fixing part far away from the material bag swinging device and a plurality of mounting seats close to the material bag swinging device, and the mounting seats are arranged at intervals and are vertically connected to the fixing part; one end of the connecting frame is connected with the comb-shaped base, and the other end of the connecting frame is arranged on the traveling mechanism.

Further, the first transmission mechanism comprises a comb-shaped belt mounting frame, a first belt rotating shaft, a plurality of second belt rotating shafts, a plurality of belts, a belt rotating shaft motor and a belt lifting device; specifically, the comb-shaped belt mounting frames are alternately arranged at intervals between the connection zone and the mounting seats; the first belt rotating shaft is arranged on the comb-shaped belt mounting frame close to the material bag swinging device; the plurality of second belt rotating shafts are arranged on the comb-shaped belt mounting rack close to the fixing parts, and the second belt rotating shafts and the mounting seats are alternately arranged at intervals; the plurality of belts are arranged around the first belt rotating shaft and the second belt rotating shaft, and the belts and the mounting seats are alternately arranged at intervals; the belt rotating shaft motor is used for driving the first belt rotating shaft or the second belt rotating shaft to rotate; the belt lifting device is connected with one side, close to the first belt rotating shaft, of the comb-shaped belt mounting frame and used for controlling the comb-shaped belt mounting frame to lift.

Further, the belt lifting device comprises a belt lifting motor, a rotating rod and a lifting rod; the belt lifting motor is fixedly arranged above the comb-shaped belt mounting rack; the rotating rod is connected with a rotating shaft of the belt lifting motor; one end of the lifting rod is rotatably connected with the rotating rod, and the other end of the lifting rod is connected with one side, close to the first belt rotating shaft, of the comb-shaped belt mounting rack.

Further, the second transmission mechanism comprises a plurality of rollers and a roller motor; one end of each roller is rotatably arranged on the fixed part, and the other end of each roller is rotatably arranged on the mounting seat; the roller motor is arranged on the fixing part and used for driving the roller to rotate.

The invention provides a novel material bag arranging device and a loading stacking system, realizes material bag arranging and automatic stacking and loading, replaces a manual loading mode, breaks the bottleneck of the existing loading field, realizes accurate stacking of materials layer by layer, is highly automatic, does not need manual participation in the whole process, is intelligent and efficient, improves loading efficiency, reduces labor cost, promotes the development of the automatic loading level, realizes loading in severe environment, and avoids the harm of manual loading to the body of workers.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is an overall layout diagram of a loading system according to an embodiment of the present invention;

FIG. 2 is an overall side view of the truck loading system in an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a main body part of the loading system in the embodiment of the invention;

FIG. 4 is a partial schematic structural view of the traveling mechanism according to the present invention;

FIG. 5 is a top view of a material bag pendulum-type device according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a single-layer material bag grouping device according to an embodiment of the invention;

fig. 7 is a schematic structural view of one direction of the truck loading and stacking device in the embodiment of the invention;

FIG. 8 is a schematic view of another orientation of the truck-loading palletising apparatus according to an embodiment of the present invention;

fig. 9 is a schematic structural view of the upper half part of the truck loading and stacking device in the embodiment of the invention;

FIG. 10 is a schematic structural view of the fork lift mechanism in an embodiment of the present invention;

figure 11 is a schematic view of the lower half of the truck-loading palletiser in an embodiment of the invention;

FIG. 12 is a schematic structural view of the shutter mechanism in an embodiment of the present invention;

FIG. 13 is a flow chart of a truck loading and palletizing method in an embodiment of the present invention;

FIG. 14 is a flow chart of the palletizing step of FIG. 13 for transferring single-layer material bags from the single-layer material bag grouping device to the vehicle to be palletized;

FIG. 15 is a flowchart of the steps set up for the loading system of FIG. 13;

FIG. 16 is a flowchart of the steps for setting the truck-loading palletiser illustrated in FIG. 13;

FIG. 17 is a schematic illustration of the palletized configuration in an embodiment of the present invention;

FIG. 18 is a schematic structural diagram of an odd-numbered layer pendulum type according to an embodiment of the present invention;

fig. 19 is a schematic structural diagram of the even-numbered layer pendulum type in the embodiment of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the drawings, the thickness of layers and regions are exaggerated for clarity. For example, the thicknesses and sizes of elements in the drawings are arbitrarily shown for convenience of description, and thus, the described technical scope is not limited by the drawings.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

Referring to fig. 1 to 3, the present invention provides a loading system 100, which includes a support frame 10, a traveling mechanism 20, a material bag conveying device 30, a material bag arranging device 40, a single-layer material bag grouping device 50, and a loading and stacking device 60.

The support frame 10, the traveling mechanism 20 and the loading and stacking device 60 form a loading and lifting system. The material bag conveying device 30, the material bag swinging device 40, the single-layer material bag team forming device 50 and the loading and stacking device 60 form a loading and stacking system. Each part of the loading and stacking system can be independently used and can also be combined with other equipment for use. The loading system 100 realizes automatic loading, replaces a manual loading mode, breaks the bottleneck of the existing loading field, realizes accurate stacking of materials layer by layer, is highly automatic, does not need manual participation in the whole process, is intelligent and efficient, improves loading efficiency, reduces labor cost, promotes development of the automatic loading level, realizes loading in severe environment, and avoids harm of manual loading to bodies of workers.

Specifically, the support frame 10 is installed on the bottom surface in an inverted U shape, and a vehicle passage for parking the vehicle 101 to be loaded is defined under the inner part of the support frame, the vehicle 101 to be loaded is preferably a flat car, and the vehicle 101 to be loaded can pass along the vehicle passage; the travelling mechanism 20 is mounted to the middle of the inner side of the support frame 10 and is positioned above the vehicle 101 to be loaded; the material bag conveying device 30 is arranged in parallel with the travelling mechanism 20 and is used for conveying material bags 102; when materials are supplied, the material bags 102 are conveyed on the material bag conveying device 30 and are arranged in a consistent manner; the material bag 102 is cuboid, and the length direction of the material bag is perpendicular to the conveying direction of the material bag conveying device 30; the input end of the material bag swinging device 40 is horizontally connected with the output end of the material bag conveying device 30; the input end of the single-layer material bag grouping device 50 is horizontally connected with the output end of the material bag swinging device 40, and is used for forming the material bags 102 into the single-layer material bags 102 according to a preset stacking mode; the truck loading and stacking device 60 is movably mounted on the traveling mechanism 20, can travel along the extending direction of the traveling mechanism 20, and is used for transferring the single-layer material bags 102 on the single-layer material bag grouping device 50 to the vehicle 101 to be loaded.

Referring to fig. 1 and fig. 2, in the present embodiment, the supporting frame 10 is a carrying mechanism of the loading system 100, and is preferably a steel structure or other supporting column with a certain height, or an assembly structure integrally formed by steel structures or other supporting columns.

The support frame 10 comprises at least two first upper cross beams 11, a plurality of second upper cross beams 12, a plurality of support legs 13 and an anti-collision dead stop 14. The at least two first upper cross beams 11 are arranged in parallel with the travelling mechanism 20; the plurality of second upper cross beams 12 are vertically arranged and fixedly connected with the two first upper cross beams 11; the plurality of support legs 13 are fixedly connected with two ends of the second upper cross beam 12 and are positioned on the same side of the second upper cross beam 12; the anti-collision dead block 14 and the second upper cross beam 12 are fixedly connected above the travelling mechanism 20 and arranged in parallel with the travelling mechanism 20, so that the material bag swinging device 40, the single-layer material bag grouping device 50 and the loading and stacking device 60 are prevented from colliding with the support frame 1.

Referring to fig. 1, 2 and 4, in the present embodiment, the traveling mechanism 20 includes at least two guide rails 21, at least two main frames 22, at least two sets of traveling wheels 23, a traveling motor 24, a plurality of traverse guide rails 25, a traverse frame 26 and a traverse motor 27. The traveling mechanism 20 can move left, right, front, and rear. Specifically, the at least two guide rails 21 are fixedly mounted to the inner middle portion of the support frame 10; the extending directions of the at least two main body frames 22 are parallel to the extending directions of the two guide rails 21 and are respectively arranged above the two guide rails 21; the at least two groups of road wheels 23 are installed between the guide rail 21 and the main body frame 22 and are respectively located at the end part of the main body frame 22, and are used for enabling the main body frame 22 to move along the guide rail 21, and each group of road wheels 23 comprises two road wheel boxes 231 and a connecting rod 232 for connecting; the walking motor 24 is mounted on one side of at least one group of walking wheels 23 and used for driving the walking wheels 23 to rotate, and preferably, the walking motor 24 is mounted on the connecting rod 232; the plurality of traverse rails 25 are perpendicular to the main body frame 22 and mounted on the upper surface of the main body frame 22; the traverse frame 26 is square and is arranged on the traverse guide rail 25; the loading and stacking device 60 is mounted on the traverse frame 26; the traverse motor 27 is installed at one side of at least one traverse guide 25, and is used for driving the traverse guide 25 to move telescopically.

Referring to fig. 5, in the present embodiment, the material bag swinging device 40 includes a belt conveyor 41, a guide plate 42, a bag pushing motor 43, a bag pushing baffle 44 and a turning baffle 45; specifically, the extension direction of the belt conveyor 41 is the same as the extension direction of the traveling mechanism 20, the upper surface of the belt conveyor is used for conveying the material bag 102, the material bag 102 is rectangular, and the length direction of the material bag 102 is perpendicular to the conveying direction of the belt conveyor 41 when entering the belt conveyor 41; the guide plate 42 is installed at one side of the belt conveyor 41; the bag pushing motor 43 is installed at the other side of the belt conveyor 41 and is arranged corresponding to the guide plate 42; the bag pushing baffle 44 is mounted on a support of the bag pushing motor 43 and is arranged corresponding to the guide plate 42, an opening of the guide plate 42 and the bag pushing baffle 44 on one side of the input end of the belt conveyor 41 is larger than an opening of the guide plate 42 and the bag pushing baffle 44 on one side of the output end of the belt conveyor 41, and the bag pushing motor 43 is used for reducing the openings of the guide plate 42 and the bag pushing baffle 44 on one side of the output end of the belt conveyor 41; the steering baffle 45 is arranged on one side of the belt conveyor 41, which is provided with the guide plate 42; the turning baffle 45 is provided with a blocking piece 451 at an end facing the guide plate 42, for blocking a corner of the material bag 102 and rotating the material bag 102.

When the material bag 102 needs to rotate, the bag pushing motor 43 pushes the bag pushing baffle 44 to reduce the opening of the bag pushing baffle 44 and the guide plate 42 at the output end side of the belt conveyor 41, the material bag 102 rotates along the inclined direction of the bag pushing baffle 44, that is, the material bag 102 rotates by a certain angle under the guiding action of the bag pushing baffle 44 and the guide plate 42, and when one corner of the material bag 102 touches the stop block of the turning baffle 45, the material bag 102 completes 90-degree rotation under the combined action of the belt conveyor 41 and the turning baffle 45.

Referring to fig. 4, in the present embodiment, the belt conveyor 41 is disposed in an inclined manner, and one end thereof is connected to the material bag conveying device 30, and the other end thereof is connected to the single-layer material bag grouping device 50. Preferably, the positions of the material bag conveying device 30 and the belt conveyor 41 are relatively fixed, the support of the material bag conveying device 30 is fixed with the traveling mechanism 20, and the material bag conveying device 30 can move back and forth along with the traveling mechanism 20.

In this embodiment, the inclination angle of the belt conveyor 41 to the horizontal plane is 5 degrees to 45 degrees, preferably 30 degrees. Therefore, the gravity action of the material bag 102 can be fully utilized, so that the material bag 102 can complete 90-degree rotation under the combined action of the belt conveyor 41 and the steering baffle 45.

Referring to fig. 4 and 6, in the present embodiment, the single-layer material bag grouping device 50 includes a fixed mounting frame 51, a first transmission mechanism 52 and a second transmission mechanism 53; specifically, the fixed mounting frame 51 is provided with a connection zone 501 and a material buffer zone 502, wherein the connection zone 501 is arranged opposite to the material bag swinging device 40; the first transmission mechanism 52 is arranged in the docking area 501 in a lifting manner, and the transmission direction of the first transmission mechanism is the same as that of the material bag swinging device 40; when the first transmission mechanism 52 is lifted, the input end of the first transmission mechanism is horizontally connected with the output end of the material bag swinging device 40; the second transmission mechanism 53 is mounted on the fixed mounting frame 51, and is arranged at an interval between the docking area 501 and the first transmission mechanism 52, and the transmission direction of the second transmission mechanism 53 is perpendicular to the transmission direction of the first transmission mechanism 52; when the first transmission mechanism 52 descends, the plane of the first transmission mechanism 52 is lower than the plane of the second transmission mechanism 53.

Referring to fig. 6, in the present embodiment, the fixing frame 51 includes a comb-shaped base 511 and a connecting frame 512; the comb-shaped base 511 is provided with a fixing part 5111 far away from the material bag swinging device 40 and a plurality of mounting seats 5112 close to the material bag swinging device 40, and the mounting seats 5112 are arranged at intervals and are vertically connected to the fixing part 5111; one end of the connecting frame 512 is connected to the comb-shaped base 511, and the other end thereof is mounted on the lower surface of the traverse frame 26 of the traveling mechanism 20.

Referring to fig. 6, in the present embodiment, the first transmission mechanism 52 includes a comb-shaped belt mounting frame 521, a first belt rotating shaft 522, a plurality of second belt rotating shafts 523, a plurality of belts 524, a belt rotating shaft motor 525 and a belt lifting device 526; specifically, the comb-shaped belt mounting frames 521 are alternately arranged with the mounting seats 5112 at intervals in the docking area 501; the first belt rotating shaft 522 is arranged on the comb-shaped belt mounting rack 521 close to the material bag swinging device 40; the plurality of second belt rotating shafts 523 are mounted on the comb-shaped belt mounting frame 521 near the fixing portion 5111, and the second belt rotating shafts 523 and the mounting seats 5112 are alternately arranged at intervals; the belts 524 are arranged around the first belt rotating shaft 522 and the second belt rotating shaft 523, and the belts 524 and the mounting seats 5112 are alternately arranged at intervals; the belt rotating shaft motor 525 is used for driving the first belt rotating shaft 522 or the second belt rotating shaft 523 to rotate; the belt lifting device 526 is connected to one side of the comb-shaped belt installation rack 521, which is close to the first belt rotating shaft 522, and is used for controlling the lifting of the comb-shaped belt installation rack 521.

Referring to fig. 3, in the present embodiment, the belt lifting device 526 includes a belt lifting motor 5261, a rotating rod 5262 and a lifting rod 5263; the belt lifting motor 5261 is fixedly mounted above the comb-shaped belt mounting frame 521; the rotating rod 5262 is connected to a rotating shaft of the belt lifting motor 5261; one end of the lifting rod 5263 is rotatably connected to the rotating rod 5262, and the other end thereof is connected to one side of the comb-shaped belt mounting bracket 521, which is adjacent to the first belt rotating shaft 522.

In another embodiment, the belt lifting device 526 includes a belt lifting motor 5261, which is fixedly mounted on the fixed mounting frame 51 and is connected to the second belt rotating shaft 523 in a lifting manner.

Referring to fig. 6, in this embodiment, the second transmission mechanism 53 includes a plurality of rollers 531 and a roller motor 532; one end of the rollers 531 is rotatably mounted on the fixing portion 5111, and the other end thereof is rotatably mounted on the mounting seat 5112; the roller motor 532 is installed on the fixing portion 5111, and is used for driving the roller 531 to rotate.

The comb-shaped base 511 and the comb-shaped belt mounting rack 521 are arranged in a staggered manner, so that the material bags 102 are transferred onto the fixed mounting rack 51 through the first conveying mechanism 52, the conveying distance of the material bags 102 is controlled through the first conveying mechanism 52, and the material bags are conveyed in a direction perpendicular to the first conveying mechanism 52 through the second conveying mechanism 53, thereby completing the formation of single-layer material bags 102 of the material bags 102.

Referring to fig. 3 and 7-12, in the present embodiment, the truck-loading stacking apparatus 60 includes a fork 61, a fork extending mechanism 62, a fork lifting mechanism 63, and a baffle mechanism 64. The fork 61 is used for forking the material bags 102 on the single-layer material bag grouping device 50; the fork telescopic mechanism 62 is connected with the rear end of the fork 61 and is used for driving the fork 61 to be telescopic back and forth in a horizontal plane; the fork lifting mechanism 63 is fixedly connected with the upper part of the fork telescopic mechanism 62 and is used for driving the fork 61 to move in the vertical direction; the baffle mechanism 64 is movably disposed between the fork 61 and the fork extending mechanism 62, and is used for pushing out the material bag 102 at the front end of the fork 61.

Referring to fig. 10 and 11, in the present embodiment, the truck-loading stacking apparatus 60 further includes a fork lifting mechanism 65, where the fork lifting mechanism 65 includes a rotating shaft 651 and a fork angle control mechanism 652; the rotating shaft 651 is mounted in the middle of the fork 61, and the fork telescopic mechanism 62 is rotatably connected with the rotating shaft 651; the fork angle control mechanism 652 is preferably a cylinder having one end mounted to the lower surface of the fork retracting mechanism 62 and the other end mounted to the rear end of the fork 61.

In this embodiment, the fork extending and retracting mechanism 62 includes a fork moving frame 621, a cross frame 622, and an extending and retracting motor 623; the fork moving frame 621 is square-shaped, one end of the fork moving frame is connected with the middle part of the fork 61, and the other end of the fork moving frame is connected with the rear end of the fork 61; the cross frame 622 is slidably connected to the upper surface of the fork moving frame 621; one end of the telescopic motor 623 is connected with the fork moving frame 621, and the other end of the telescopic motor 623 is connected with the cross frame 622, and the telescopic motor 623 drives the fork moving frame 621 to move relative to the cross frame 622, so that the cross frame 622 can move back and forth along the fork moving frame 621.

Referring to fig. 3, 7-12, in the present embodiment, the fork extending and retracting mechanism 62 further includes: and a telescopic rack 624 installed at the bottom of the cross frame 622, wherein the fork moving frame 621 slides along the telescopic rack 624.

Referring to fig. 3 and 7-12, in the present embodiment, the fork lifting mechanism 63 includes a lifting fixing base 631, a lifting motor 632, a lifting frame 633 and a chain 634. The lifting fixing seat 631 is movably installed on the traveling mechanism 20; the lifting motor 632 is mounted on the lifting fixing seat 631; the lifting frame 633 is slidably mounted on the lifting fixing seat 631; one end of the chain 634 is disposed around the rotating shaft of the lifting motor 632, and the other end of the chain 634 is fixedly connected to the lifting frame 633.

In this embodiment, the fork lifting mechanism 63 further includes an auxiliary lifting motor 635, an auxiliary lifting frame 636 and a lifting rack 637; therefore, the fork lifting mechanism 63 comprises a two-section lifting frame consisting of the lifting frame 633 and the auxiliary lifting frame 636, and the lifting frame 633 and the auxiliary lifting frame 636 can be connected through the chain 634, so that the lifting size is increased, and the space is saved. The auxiliary lifting motor 635 is mounted on the lifting fixing seat 631; the auxiliary lifting motor 635 is provided with a driving gear; the auxiliary lifting frame 636 is slidably disposed inside the lifting fixing seat 631, and the lifting frame 633 is slidably disposed inside the auxiliary lifting frame 636; the lifting rack 637 is installed outside the auxiliary lifting frame 636, and is engaged with a driving gear of the auxiliary lifting motor 635.

Referring to fig. 8-12, in the present embodiment, the baffle mechanism 64 includes a baffle supporting rod 641 and a baffle 642; the baffle supporting rod 641 is telescopically connected with the fork telescopic mechanism 62; the baffle 642 is parallel to the baffle support rod 641, and the baffle 642 is connected with the baffle support rod 641 in a lifting manner. The baffle 642 of the baffle mechanism 64 can move back and forth and up and down. The bottom of the baffle 642 is provided with a gap into which a protrusion can be inserted into the fork 61, i.e. the bottom of the baffle 642 is adapted to the fork 61, so that the material bag 102 is prevented from being left on the fork 61.

Referring to fig. 8-12, in the present embodiment, the baffle mechanism 64 further includes a lifting fixing seat 643, a lifting guiding column 644 and a lifting cylinder 645; the lifting fixing seat 643 is installed on the baffle supporting rod 641; one end of the lifting guide post 644 is fixedly connected to the baffle 642 and passes through the lifting fixing seat 643 to be slidably connected; one end of the lifting cylinder 645 is fixedly connected to the baffle 642, and the other end thereof is fixedly connected to the lower surface of the fork lifting mechanism 63. The lifting fixing seat 643 is fixed with the baffle supporting rod 641, the lifting guide post 644 is fixed with the baffle 642, and the lifting cylinder 645 can push the baffle 642 to move up and down.

Referring to fig. 8-12, in the present embodiment, the baffle mechanism 64 further includes a push plate fixing seat 646, a push plate guide column 647, and a push cylinder 648; the push plate fixing seat 646 is mounted on the fork telescopic mechanism 62 or fixed below the fork lifting mechanism 63; one end of the push plate guide column 647 is fixedly connected to the baffle support rod 641 and slidably connected with the push plate fixing seat 646; one end of the pushing cylinder 648 is fixedly connected to the blocking plate 642, and the other end thereof is fixedly connected to the fork extending mechanism 62 facing the blocking plate 642. The push plate guide column 647 is fixed with the baffle support rod 641 and installed in the push plate fixing seat 646, and the push cylinder 648 can push the baffle support rod 641 to move back and forth.

Referring to fig. 13, the present invention provides a loading and stacking method, which includes steps S101 to S106.

S101, presetting a stack shape, namely prestoring at least one preset stack shape, wherein the preset stack shape comprises a plurality of stack units which are arranged in an array manner and a formation manner of odd-numbered layers and even-numbered layers of material bags of each stack unit;

s102, selecting a preset stack shape, identifying the area and the load value of a vehicle to be loaded, selecting a proper preset stack shape according to the area and the load value of the vehicle to be loaded, and calculating the layer number of each stacking unit;

s103, splitting a single-layer material bag grouping mode, respectively obtaining the grouping mode of the single-layer material bags on the odd layers and the even layers of each stacking unit, and respectively generating an odd-layer swinging instruction and an even-layer swinging instruction according to the row calculation arrangement direction of the material bags on the odd layers and the even layers, wherein the extension direction of the rows is parallel to the transmission direction of the material bag swinging device.

S104, performing single-layer material bag swinging on each stacking unit, namely alternately sending odd-layer swinging instructions and even-layer swinging instructions to the material bag swinging device according to the sequence that each stacking unit alternately stacks the odd-layer and the even-layer from bottom to top; when the material bag swinging direction is parallel to the transmission direction of the material bag swinging device, the material bag swinging device controls the material bag to rotate by 90 degrees; when the material bag swinging direction is vertical to the transmission direction of the material bag swinging device, the material bag swinging device does not act; thereby the material bag can be put into a horizontal posture and a vertical posture according to requirements.

S105, single-layer material bag array-based step, wherein odd-layer swing instructions and even-layer swing instructions are synchronously and alternately sent to a single-layer material bag array-based device, and the single-layer material bag array-based device controls the transmission distance of the material bags and arrays the material bags according to the array when receiving each material bag; and when the odd layer swing instruction or the even layer swing instruction is executed, completing the single-layer material bag formation.

S106, a stacking step, namely judging whether the single-layer material bag grouping device has single-layer material bags which are already grouped; if so, sending a stacking instruction to a truck-loading stacking device, and transferring the single-layer material bags on the single-layer material bag team device to the truck to be loaded; and if not, returning to the step of arranging the single-layer material bags in a queue.

The steps S101-S105 are mainly single-layer material bag grouping steps, and a single-layer material bag grouping instruction is sent to the material bag arranging device and the single-layer material bag grouping device according to a grouping mode of splitting each single-layer material bag according to a preset stacking mode and a stacking sequence.

Referring to fig. 14, in the embodiment, in the palletizing step S106, the steps of transferring the single-layer material bags on the single-layer material bag queuing device to the vehicle to be palletized include steps S1061-S1065.

S1061, a single-layer material bag forking step, wherein a fork of the loading and stacking device forks the single-layer material bag on the single-layer material bag grouping device; the baffle mechanism of the loading stacking device is far away from the single-layer material bag, and the single-layer material bag falls on the fork.

S1062, tilting the front end of the fork, wherein a fork lifting mechanism of the loading stacking device rotates to drive the front end of the fork to tilt, so that the single-layer material bag is prevented from falling off the fork.

And S1063, a shifting and positioning step, namely driving the fork to move right above the corresponding stacking unit in the vertical direction by a fork lifting mechanism of the loading and stacking device, and determining the height of the fork relative to the vehicle to be loaded according to the layer number of the stacking unit.

And S1064, tilting the rear end of a pallet fork, wherein a pallet fork lifting mechanism of the truck loading and stacking device rotates to drive the rear end of the pallet fork to tilt, so that the single-layer material bags and the previously stacked material bags are closely arranged, and the stacking and truck loading stability is improved.

S1065, a step of pulling out the pallet fork, wherein a baffle mechanism of the loading stacking device is abutted against the single-layer material bag to push the single-layer material bag out, so that the stability of the single-layer material bag is ensured, and the stacking and loading stability is improved; and a fork telescopic mechanism of the loading stacking device is pulled away from the fork.

Referring to fig. 13, in the present embodiment, after the stacking step S106, the method further includes:

s107, a stacking inspection step, namely judging whether stacking on the vehicle to be stacked is completed or not, if so, sending a stacking completion signal to remind a driver to drive away from the vehicle to be stacked; if not, returning to the stacking step S106.

Referring to fig. 13, in the present embodiment, steps S1-S5 are further included before the step S104 of swinging the single-layer material bag of each stacking unit.

And S1, setting a loading system, namely setting the loading system for implementing automatic loading.

Referring to fig. 15, the step S1 of setting the loading system includes the following steps S11-S16. S11, arranging a support frame, namely installing the support frame in an inverted U shape on the bottom surface, and enclosing a vehicle channel for parking a vehicle to be loaded below the inside of the support frame. And S12, setting a travelling mechanism, namely installing the travelling mechanism at the middle part of the inner side of the support frame and above the vehicle to be loaded. S13, arranging a material bag conveying device, wherein the material bag conveying device is arranged in parallel with the travelling mechanism and is used for conveying material bags; the material bag is conveyed on the material bag conveying device; when materials come, the material bags are arranged on the material bag conveying device in a consistent mode; the material bag is cuboid, and the length direction of the material bag is perpendicular to the conveying direction of the material bag conveying device. S14, arranging a material bag swinging device, wherein the input end of the material bag swinging device is horizontally connected with the output end of the material bag conveying device. And S15, setting a single-layer material bag grouping device, namely setting a single-layer material bag grouping device, wherein the input end of the single-layer material bag grouping device is horizontally connected with the output end of the material bag swinging device, and the single-layer material bag grouping device is used for forming single-layer material bags according to a preset stacking mode. And S16, setting a loading and stacking device, wherein the loading and stacking device is movably mounted on the travelling mechanism and used for transferring the single-layer material bags on the single-layer material bag grouping device to the vehicle to be loaded.

Referring to fig. 16, in the present embodiment, the step S16 of setting the loading and stacking device includes steps S161 to S165. S161, a step of arranging a fork, namely arranging the fork for forking the single-layer material bag. S162, a step of setting a fork telescopic mechanism, wherein the fork telescopic mechanism connected with the rear end of the fork is arranged and used for driving the fork to stretch back and forth in a horizontal plane. And S163, setting a fork lifting mechanism, namely setting the fork lifting mechanism fixedly connected with the upper part of the fork telescopic mechanism and driving the fork to move in the vertical direction. S164, a baffle mechanism is arranged, and a baffle mechanism is movably arranged between the fork and the fork telescopic mechanism and used for pushing out the material bag at the front end of the fork. S165, a step of setting a fork lifting mechanism, wherein a rotating shaft is arranged in the middle of the fork, a fork telescopic mechanism is rotatably connected with the rotating shaft, and a fork angle control mechanism is arranged between the lower surface of the fork telescopic mechanism and the rear end of the fork.

It can be understood that more details of the step S1 of setting the loading system may be sequentially set according to the detailed structure of the loading system, and specifically refer to the content of the structural part of the loading system described above, which is not described herein again.

S2, a vehicle channel obtaining step, namely obtaining the area range of a vehicle channel, wherein the vehicle channel is divided into a plurality of loading areas which are adjacent in sequence, a loading system is arranged above each loading area, and each loading system comprises a support frame, a traveling mechanism, a material bag conveying device, a material bag arranging device, a single-layer material bag grouping device and a loading stacking device.

S3, positioning a vehicle to be loaded, namely parking the vehicle to be loaded to the vehicle channel, collecting the position information of the vehicle to be loaded in the vehicle channel, and judging whether the position information of the vehicle to be loaded is positioned in one loading area; if not, sending an alarm signal; if yes, executing the next step.

S4, a position adjusting step, namely judging whether the positions of the material bag conveying device, the material bag swinging device, the single-layer material bag grouping device and the loading and stacking device are positioned above a loading area where the vehicle to be loaded is positioned; if yes, executing the next step, and if not, sending a position adjusting instruction to the travelling mechanism.

S5, a material bag conveying control step, namely, sending a material bag conveying instruction to a material bag conveying device; the material bag is conveyed on the material bag conveying device, the material bag is cuboid, and the length direction of the material bag is perpendicular to the conveying direction of the material bag conveying device when the material bag enters the material bag conveying device.

Fig. 17 is a schematic structural view of a stacking shape, fig. 18 is a schematic structural view of the odd-level pendulum type, and fig. 19 is a schematic structural view of the even-level pendulum type, wherein the stacking is formed by stacking the single-layer material bags of the odd-level pendulum type and the single-layer material bags of the even-level pendulum type, preferably, the material bags of the odd-level and the material bags of the even-level pendulum type are arranged in a staggered manner, but the stacking of the invention is not limited to the stacking type.

The material bag swinging device, the loading and stacking system and the loading and stacking method of the embodiment have a full-automatic intelligent loading function, and have the following advantages compared with the prior art: the full-automatic loading is realized, and the materials can be automatically stacked into the carriage layer by layer and stack by stack; the loading form is flexible, and the package arrangement form can be automatically changed according to requirements; is suitable for packaging bags and materials in any form; the device can work in a severe environment; the loading speed is high, and the loading efficiency can be improved; the material bags are closely arranged, so that the stacking and loading stability is improved.

The invention also provides electronic equipment which comprises a memory used for storing executable program codes and a processor connected to the memory, wherein the processor runs a computer program corresponding to the executable program codes by reading the executable program codes so as to execute at least one step in the truck-loading and palletizing method.

According to the novel material bag arranging device and the loading stacking system, automatic stacking and loading are achieved, a manual loading mode is replaced, the bottleneck of the existing loading field is broken, accurate stacking of materials is achieved layer by layer, high automation is achieved, manual participation is not needed in the whole process, the loading efficiency is improved, the labor cost is reduced, development of the automatic loading level is promoted, loading under severe environment is achieved, and harm of manual loading to the body of workers is avoided.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. A material bag pendulum type device, its characterized in that includes:

the extending direction of the belt conveyor is the same as that of the travelling mechanism, the upper surface of the belt conveyor is used for conveying the material bags, the material bags are cuboid, and the length direction of the material bags is perpendicular to the conveying direction of the belt conveyor when the material bags enter the belt conveyor;

the guide plate is arranged on one side of the belt conveyor;

the bag pushing motor is arranged on the other side of the belt conveyor and corresponds to the guide plate;

the bag pushing baffle is arranged on a support of the bag pushing motor and corresponds to the guide plate, the opening of the guide plate and the bag pushing baffle on one side of the input end of the belt conveyor is larger than the opening of the guide plate and the bag pushing baffle on one side of the output end of the belt conveyor, and the bag pushing motor is used for reducing the opening of the guide plate and the bag pushing baffle on one side of the output end of the belt conveyor; and

the steering baffle is arranged on one side of the belt conveyor, which is provided with the guide plate; the turning baffle is provided with a blocking block at one end facing the guide plate, and the blocking block enables the material bag to rotate when blocking one corner of the material bag.

2. The swing-type device for placing material bags according to claim 1, wherein the belt conveyor is disposed in an inclined manner, one end of the belt conveyor is connected to the material bag conveying device, and the other end of the belt conveyor is connected to the single-layer material bag grouping device.

3. The material bag pendulum type device of claim 2, wherein the angle of inclination of the belt conveyor to the horizontal is 5-45 degrees.

4. A truck loading palletizing system comprising a material bag swinging device as claimed in any one of claims 1 to 3.

5. The truck-loading palletising system of claim 4, further comprising:

the material bag conveying device is used for conveying material bags;

the input end of the material bag swinging device is horizontally connected with the output end of the material bag conveying device; and

and the input end of the single-layer material bag grouping device is horizontally connected with the output end of the material bag swinging device and is used for receiving the material bags from the material bag swinging device and forming the single-layer material bags according to a preset stacking mode.

6. The truck-loading palletising system of claim 5, wherein the single-layer bag-organizing device comprises:

the fixed mounting frame is provided with a connection area and a material cache area, and the connection area is opposite to the material bag swinging device;

the first transmission mechanism is arranged in the connection area in a lifting mode, and the transmission direction of the first transmission mechanism is the same as that of the material bag swinging device; when the first transmission mechanism is lifted, the input end of the first transmission mechanism is horizontally connected with the output end of the material bag swinging device; and

the second transmission mechanism is arranged on the fixed mounting frame, the connection area and the first transmission mechanism are arranged at intervals, and the transmission direction of the second transmission mechanism is perpendicular to that of the first transmission mechanism; when the first transmission mechanism descends, the plane of the first transmission mechanism is lower than the plane of the second transmission mechanism.

7. The truck-loading palletising system of claim 6, wherein the fixed mounting bracket comprises:

the comb-shaped base is provided with a fixing part far away from the material bag swinging device and a plurality of mounting seats close to the material bag swinging device, and the mounting seats are arranged at intervals and are vertically connected to the fixing part;

and one end of the fixed mounting frame is connected with the comb-shaped base, and the other end of the fixed mounting frame is arranged on the travelling mechanism.

8. The truck-loading palletising system of claim 6, wherein the first transfer mechanism comprises:

the comb-shaped belt mounting frames are alternately arranged with the mounting seats at intervals in the connection area;

the first belt rotating shaft is arranged on the comb-shaped belt mounting frame close to the material bag swinging device;

the second belt rotating shafts are arranged on the comb-shaped belt mounting frame close to the fixing parts and are alternately arranged with the mounting seats at intervals;

the plurality of belts are arranged around the first belt rotating shaft and the second belt rotating shaft, and the belts and the mounting seats are alternately arranged at intervals;

the belt rotating shaft motor is used for driving the first belt rotating shaft or the second belt rotating shaft to rotate; and

and the belt lifting device is connected with one side of the first belt rotating shaft close to the comb-shaped belt mounting frame and used for controlling the comb-shaped belt mounting frame to lift.

9. The truck-loading palletising system of claim 8, wherein the belt lift comprises:

the belt lifting motor is fixedly arranged above the comb-shaped belt mounting rack;

the rotating rod is connected with a rotating shaft of the belt lifting motor; and

and one end of the lifting rod is rotatably connected with the rotating rod, and the other end of the lifting rod is connected with one side of the first belt rotating shaft close to the comb-shaped belt mounting rack.

10. The truck-loading palletising system of claim 6, wherein the second transfer mechanism comprises:

a plurality of rollers, one end of which is rotatably mounted on the fixing part and the other end of which is rotatably mounted on the mounting seat; and

and the roller motor is arranged on the fixed part and used for driving the roller to rotate.