CN111924553A

CN111924553A - Automatic stacking device for bagged materials

Info

Publication number: CN111924553A
Application number: CN202010658590.2A
Authority: CN
Inventors: 张广渊; 张东; 王国锋; 赵峰; 靳华磊; 綦昌波
Original assignee: Shandong Jiaotong University
Current assignee: Shandong Jiaotong University
Priority date: 2020-07-09
Filing date: 2020-07-09
Publication date: 2020-11-13

Abstract

The invention discloses an automatic bagged material stacking device which comprises a traveling trolley, a lifting frame and a stacking machine head, wherein the lifting frame is connected with the traveling trolley in a sliding mode, the stacking machine head comprises a stacking machine frame, a feeding conveying mechanism, a shifting sheet indexing mechanism, a pushing mechanism and a steering transposition conveying device, the feeding conveying mechanism is connected with the output end of a bagged material stacking line, the shifting sheet indexing mechanism pushes bagged materials to a specified pushing mechanism according to a generated stacking scheme, the pushing mechanism pushes the bagged materials to the steering transposition conveying device, the steering transposition conveying device moves in the vehicle width direction according to the stacking scheme to stack the bagged materials to a specified position of a carriage, and the automation of the whole process from the bagged material stacking line to the carriage is realized.

Description

Automatic stacking device for bagged materials

Technical Field

The invention relates to the technical field of material stacking, in particular to an automatic stacking device for bagged materials.

Background

Bagged materials comprise cement, feed and other bagged materials, wherein the cement is an essential material for a construction site, and the feed is essential in the breeding industry. The prior art for loading and stacking bagged materials on a truck is to arrange the bagged materials into a layer by combining according to a preselected mode, and then to perform stacking operation in a carriage, so as to reciprocate until the loading is finished. The second technical scheme is that loading and stacking operation is carried out through a mechanical arm.

The solution of the mechanical arm mode is limited by the arm extension, so that the types of the stacked vehicles are limited, and meanwhile, the mechanical arm of the mechanical arm scheme is easy to damage bagged materials; the existing stacking scheme has single function, can only aim at specific vehicle types, and the stacking angle of bagged materials is fixed.

Disclosure of Invention

The invention aims to solve the problems and provides an automatic bagged material stacking device, which realizes the automation of the whole process from a bagged material flow line to a carriage; the stacking angle is controllable, and the space of a carriage is fully utilized; the vehicle-mounted intelligent control system is suitable for various vehicle types and high in adaptability.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the utility model provides an automatic pile up neatly device of material in bags, includes travelling car, lifting frame and pile up neatly aircraft nose, sliding connection between lifting frame and the travelling car, is equipped with direction hoist mechanism between lifting frame and the travelling car, the pile up neatly aircraft nose includes pile up neatly machine frame, material loading conveying mechanism, plectrum indexing mechanism, pushing mechanism and turns to transposition conveyor, the pile up neatly machine frame mounting is at the lifting frame lower extreme, and material loading conveying mechanism, plectrum indexing mechanism, pushing mechanism and turn to transposition conveyor all install in the pile up neatly machine frame.

Further, still include the track, the dolly that moves is equipped with the opening along rail mobility in the dolly that moves, and the lifting frame is located the opening, direction hoist mechanism includes the promotion leading truck, and the distribution that promotes the leading truck bilateral symmetry is in the opening both sides, and the promotion leading truck is rectangular frame, sliding connection between promotion leading truck and the lifting frame.

Furthermore, the feeding conveying mechanism is installed at the front end of the frame of the stacking machine, the shifting piece indexing mechanism is installed at the front end of the upper end face of the frame of the stacking machine, the shifting piece indexing mechanism is matched with the rear end of the feeding conveying mechanism, the pushing mechanisms are symmetrically distributed on two sides of the frame of the stacking machine, the steering and transposition conveying devices correspond to the pushing mechanisms one by one, the steering and transposition conveying devices are located at the rear end of the pushing mechanisms, and the pushing mechanisms are matched with the steering and transposition conveying devices.

Further, the feeding conveying mechanism comprises a feeding section conveying structure, a platform section conveying mechanism and a pull rod type adjusting mechanism, the rear end of the feeding section conveying structure is rotatably connected with the stacker frame, the platform section conveying mechanism is located in the stacker frame, the rear end of the feeding section conveying structure is matched with the front end of the platform section conveying mechanism, the front end of the pull rod type adjusting mechanism is connected with the feeding section conveying structure, the rear end of the pull rod type adjusting mechanism is connected with the stacker frame, and a sensor is arranged between the feeding section conveying structure and the platform section conveying mechanism at the upper end of the stacker frame.

Further, the feeding section conveying structure comprises a first supporting frame and a first conveying belt, and the first conveying belt is rotatably connected with the first supporting frame;

the rear end of the first support frame is provided with a first bolt, the first support frame is rotationally connected with the stacker crane frame through the first bolt, and the front end of the first support frame is provided with a second bolt and a third bolt;

the platform section conveying mechanism comprises a second supporting frame and a second conveying belt, and the second conveying belt is rotatably connected with the second supporting frame;

the pull rod type adjusting mechanism comprises a sleeve and connectors, the connectors are symmetrically distributed at two ends of the sleeve, the connectors are in threaded connection with the sleeve, the front end of each connector is connected with a second bolt, and the rear end of each connector is connected with the upper end of the stacker crane frame.

The shifting piece indexing mechanism comprises a scraping plate and a first belt, first belt pulleys are arranged at two ends of a frame of the stacking machine, two ends of the first belt are matched with the first belt pulleys, a first motor is arranged at the left end of the frame of the stacking machine, an output shaft of the first motor is connected with the first belt pulleys, the upper end of the scraping plate is connected with the frame of the stacking machine in a sliding mode, and the middle position of the first belt is connected with the scraping plate;

the scraper blade upper end is equipped with the diaphragm, and both ends all are equipped with the leading wheel around the diaphragm, are equipped with the circle guide rail in the pile up neatly machine frame, leading wheel and the cooperation of circle guide rail, and the first belt of upper segment is connected with the diaphragm.

Further, pushing mechanism includes push pedal and second belt, and pile up neatly machine frame front end and intermediate position all are equipped with the belt pulley, and pile up neatly machine frame front end is equipped with drive second belt pivoted second motor, sliding connection between push pedal and the pile up neatly machine frame.

Further, turn to transposition conveyor and include pile up neatly machine frame, suspension type transposition indexing mechanism and box-shaped manipulator mechanism, suspension type transposition indexing mechanism install in pile up neatly machine frame rear end and with pile up neatly machine frame between sliding connection, suspension type transposition indexing mechanism bilateral symmetry's branch distributes in pile up neatly machine frame, and box-shaped manipulator mechanism installs at suspension type transposition indexing mechanism lower extreme.

Further, suspension type transposition indexing mechanism includes casing and pivot, sliding connection between casing and the pile up neatly machine frame, through motor belt drive between casing and the pile up neatly machine frame, rotates between pivot and the casing to be connected, is equipped with the third motor in the casing, be equipped with the gear on the third motor output shaft, the pivot upper end is equipped with sector gear, gear and sector gear meshing.

Furthermore, the box-type mechanical arm mechanism comprises a box body and a switch door, the lower end of the rotating shaft is connected with the box body, one end of the outer side of the switch door is rotatably connected with the inner wall of the box body, air cylinders are arranged on two sides of the box body, a connecting rod is arranged at the end of a piston rod of each air cylinder, the end of the cylinder body of each air cylinder is connected with the upper end of the box body, the middle position of each connecting rod is rotatably connected with the lower end of the box body, the end of the piston rod of each.

The invention has the beneficial effects that:

1. the stacker crane comprises a traveling trolley, a lifting frame and a stacker crane head, wherein the lifting frame is connected with the traveling trolley in a sliding manner, a guide lifting mechanism is arranged between the lifting frame and the traveling trolley, the stacker crane head comprises a stacker crane frame, a feeding conveying mechanism, a shifting piece indexing mechanism, a pushing mechanism and a steering transposition conveying device, the stacker crane frame is arranged at the lower end of the lifting frame, and the feeding conveying mechanism, the shifting piece indexing mechanism, the pushing mechanism and the steering transposition conveying device are all arranged in the stacker crane frame. Before the stacking is started, the stacking machine head is driven by the movable trolley and the lifting frame to move to a bagged material stacking position. The feeding conveying mechanism is connected with the output end of a bagged material flow line, bagged materials enter the stacking machine head from the production line through the butt joint mechanism, the shifting piece indexing mechanism pushes the bagged materials to the appointed pushing mechanism according to the generated stacking scheme, the pushing mechanism pushes the bagged materials to the steering transposition conveying device, and the steering transposition conveying device moves in the vehicle width direction according to the stacking scheme to stack the bagged materials to the appointed position of the carriage. The bagged materials are stacked in the carriage in sequence, after a transverse row of bagged materials are stacked, the moving trolley drives the stacking frame to move backwards to perform the next row of stacking until the last row of one layer is stacked, at the moment, the lifting frame drives the stacking frame to move up and down, and the next layer of bagged materials continues to be stacked. The whole process from the bagged material assembly line to the carriage is automated.

2. The bagged material conveying device is provided with the track, the moving trolley moves along the track, the lower end of the moving trolley is provided with the roller which is matched with the track, the lower end of the moving trolley is provided with the motor for driving the roller to roll, the roller can move along the track, the movement of the stacking mechanism is convenient, bagged materials are conveyed into a carriage, the whole process from a bagged material assembly line to the carriage is automated, the labor intensity is reduced, and the practicability is good.

3. The feeding conveying mechanism comprises a feeding section conveying structure, a platform section conveying mechanism and a pull rod type adjusting mechanism, wherein the rear end of the feeding section conveying structure is rotatably connected with a stacker frame, the platform section conveying mechanism is located in the stacker frame, the rear end of the feeding section conveying structure is matched with the front end of the platform section conveying mechanism, the front end of the pull rod type adjusting mechanism is connected with the feeding section conveying structure, the rear end of the pull rod type adjusting mechanism is connected with the stacker frame, and a sensor is arranged between the feeding section conveying structure and the platform section conveying mechanism at the upper end of the stacker frame. The feeding section conveying structure keeps consistent with the linear speed of a bagged material production line and rotates consistently, and when the sensor does not contain bagged materials, the platform section conveying mechanism keeps static; when the sensor detects bagged materials, the platform section conveying belt rotates, and the rotation time is set according to the length of the bagged materials and the speed of the production line. The rotating speed of the platform section conveying mechanism is continuously reduced, bagged materials are gradually decelerated under the driving of the platform section conveying mechanism, the bagged materials cannot collide with a baffle at the top end of the platform section conveying mechanism, the shape of the bagged materials is inconvenient, the flatness is good, and the stacking quality is guaranteed. The inclination angle of the feeding section conveying structure can be adjusted through the pull rod type adjusting mechanism, the bag-shaped material conveying mechanism is suitable for bag-shaped material production lines in various environments, and the practicability is good.

4. According to the invention, the traveling trolley is internally provided with an opening, the lifting frame is positioned in the opening, the guide lifting mechanism comprises a lifting guide frame, the lifting guide frame is bilaterally and symmetrically distributed on two sides of the opening, the lifting guide frame is a rectangular frame, the lifting guide frame is in sliding connection with the lifting frame 3, in the vertical moving process, as a guide wheel of the lifting guide frame is attached to a round guide rail in the lifting frame main body, the whole lifting frame main body is restrained and guided, and the square lifting guide frame can realize stable lifting of the lifting frame; the whole is of a frame type structure and is light in weight.

5. The shifting piece indexing mechanism comprises a scraper and a belt, belt pulleys are arranged at two ends of a stacker frame, two ends of the belt are matched with the belt pulleys, a driving mechanism for driving the belt pulleys to rotate is arranged at the left end of the stacker frame, the upper end of the scraper is connected with the stacker frame in a sliding mode, the middle position of the belt is connected with the scraper, the initial position of the scraper is set to be located on one side of the stacking device, when bagged materials enter the subpackaging indexing mechanism, the driving mechanism drives the belt to rotate in the forward direction, the belt drives the scraper to move, and then the bagged materials are pushed; when the next bagged material enters the indexing mechanism, the motor of the driving mechanism rotates reversely, and the belt drives the scraper to move reversely. The upper space of the stacking device is fully utilized, and the occupied size is small; the double-roller design realizes reliable transposition pushing of large-mass bagged materials; in the working process, the operation of the next bag of bagged materials is not influenced, and the overall stacking efficiency is improved.

6. The automatic indexing mechanism comprises a suspension type transposition indexing mechanism and a box type manipulator mechanism, wherein the suspension type transposition indexing mechanism is arranged at the rear end of a frame of a stacking machine and is connected with the frame of the stacking machine in a sliding mode, and the box type manipulator mechanism is arranged at the lower end of the suspension type transposition indexing mechanism. The suspension type steering transposition conveying device is arranged on two sides of the stacking machine head at the initial position, after bagged materials enter the box-type mechanical arm, the suspension type transposition indexing mechanism drives the box-type mechanical arm to rotate by a corresponding angle according to angle information in a stacking instruction, the stacking direction of the bagged materials is controllable, multi-angle stacking of the bagged materials can be carried out, and the space of a carriage is fully utilized.

7. The pushing mechanism and the suspension type transposition and transposition mechanism are bilaterally and symmetrically distributed in the frame of the stacking machine, the stacking frame realizes double-channel conveying of bagged materials, and loading and stacking are realized through the cooperation of two sets of suspension type steering and transposition conveying devices.

Drawings

In order to more clearly illustrate the embodiments or technical solutions in the prior art of the present invention, the drawings used in the description of the embodiments or prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the structure of the joint between the traveling trolley and the lifting frame;

FIG. 3 is a first schematic structural view of the traveling trolley of the invention;

FIG. 4 is a second schematic structural view of the traveling trolley of the present invention;

FIG. 5 is a first structural view of a feeding conveyor mechanism according to the present invention;

FIG. 6 is a schematic structural view of a feeding conveyor mechanism according to the present invention;

FIG. 7 is a first structural diagram of a feeding section conveying structure according to the present invention;

FIG. 8 is a schematic structural view of a feeding section conveying structure according to the present invention;

FIG. 9 is a schematic structural view of a shifting unit according to the present invention;

FIG. 10 is a first schematic view of the scraper structure of the present invention;

FIG. 11 is a second schematic view of the scraper structure of the present invention;

FIG. 12 is a schematic structural view of a conveying device with turning positions according to the present invention;

FIG. 13 is a schematic structural view of a suspended index mechanism according to the present invention;

FIG. 14 is a top view of the hanging index indexing mechanism of the present invention;

FIG. 15 is a first structural schematic diagram of the cassette type robot mechanism of the present invention;

fig. 16 is a structural schematic diagram of a cassette robot mechanism according to the second embodiment of the present invention.

In the figure: the device comprises a moving trolley 1, a lifting frame 2, a stacker frame 3, an opening 4, a lifting guide frame 5, a sensor 6, a first supporting frame 7, a first conveying belt 8, a first bolt 9, a second bolt 10, a third bolt 11, a second supporting frame 12, a second conveying belt 13, a sleeve 14, a connector 15, a scraper 16, a first belt 17, a first belt pulley 18, a first motor 19, a transverse plate 20, a guide wheel 21, a circular guide rail 22, a push plate 23, a second belt 24, a second motor 25, a shell 26, a rotating shaft 27, a third motor 28, a gear 29, a sector gear 30, a box body 31, a switch door 32, an air cylinder 33 and a connecting rod 34.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. 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.

For convenience of description, a coordinate system is now defined as shown in fig. 1.

As shown in fig. 1, an automatic bagged material stacking device comprises a traveling trolley 1, a lifting frame 2 and a stacking machine head, wherein the lifting frame 2 is connected with the traveling trolley 1 in a sliding manner, a guide lifting mechanism is arranged between the lifting frame 2 and the traveling trolley 1, the stacking machine head comprises a stacking machine frame 3, a feeding conveying mechanism, a shifting piece indexing mechanism, a pushing mechanism and a steering transposition conveying device, the stacking machine frame 3 is installed at the lower end of the lifting frame 2, and the feeding conveying mechanism, the shifting piece indexing mechanism, the pushing mechanism and the steering transposition conveying device are all installed in the stacking machine frame 3. Before the stacking is started, the stacking machine head is driven by the movable trolley and the lifting frame to move to a bagged material stacking position according to a coordinate position generated by a stacking scheme. The feeding conveying mechanism is connected with the output end of a bagged material flow line, bagged materials enter a stacking machine head through a butt joint mechanism from a production line, after entering the stacking machine head, the shifting piece indexing mechanism pushes the bagged materials to a specified pushing mechanism according to a generated stacking scheme, the pushing mechanism pushes the bagged materials to a turning and transposition conveying device, and the turning and transposition conveying device moves in the vehicle width direction according to the stacking scheme to stack the bagged materials to a specified position of a carriage. The bagged materials are stacked in the carriage in sequence, after a transverse row of bagged materials are stacked, the moving trolley drives the stacking frame to move backwards to perform the next row of stacking until the last row of one layer is stacked, at the moment, the lifting frame drives the stacking frame to move up and down, and the next layer of bagged materials continues to be stacked. The whole process from the bagged material assembly line to the carriage is automated.

As shown in fig. 2 to 4, the trolley comprises a track 1, a traveling trolley 2 moves along the track 1, rollers are arranged at the lower end of the traveling trolley and are matched with the track, a motor for driving the rollers to roll is arranged at the lower end of the traveling trolley and can move along the track, so that a stacking mechanism can conveniently move, bagged materials are conveyed into a carriage, the whole process from a bagged material flow line to the carriage is automated, the labor intensity is reduced, the practicability is good, an opening 4 is formed in the traveling trolley 2, a lifting frame 3 is positioned in the opening 4, the guiding and lifting mechanism comprises lifting guide frames 5, the lifting guide frames 5 are distributed on two sides of the opening 4 in a bilateral symmetry manner, the lifting guide frames 5 are rectangular frames, the lifting guide frames 5 are connected with the lifting frame 3 in a sliding manner, two guide wheels are arranged at four corners of the lifting guide frames 5, one guide wheel is positioned on the inner side of the lifting guide frame, the other guide wheel is positioned at the end part of the lifting guide frame, round guide rails are arranged at the front end and the rear end of the lifting frame 3, the guide wheels are matched with the round guide rails, and grooves are formed in the cylindrical surfaces of the guide wheels and matched with the round guide rails.

The lifting guide frame 5 and the lifting frame 3 are driven by a motor chain, the traveling trolley is provided with a driving rod, a transmission rod and a transmission rod, the transmission rod and the transmission rod are symmetrical front and back, two ends of the driving rod are connected with the transmission rod through bevel gears, the traveling trolley 2 is provided with a motor, and the output end of the motor is connected with the driving rod. Lifting frame 3 both sides are equipped with the chain, and both ends are connected with lifting frame upper and lower both ends about the chain, are equipped with the sprocket on the transfer line, chain and sprocket cooperation, and the chain is equipped with four, and lifting frame 3 both sides respectively are equipped with two, and the horizontal transmission shaft of every side passes through chain promotion atress seat and drives two chains, and the lifting frame main part is realized removing in vertical direction through four chains. In the vertical moving process, as the guide wheels of the lifting guide frame are attached to the round guide rails in the lifting frame main body, the whole lifting frame main body is restrained and guided, and the square lifting guide frame can realize stable lifting of the lifting frame; the whole is of a frame type structure and is light in weight.

As shown in fig. 5, the feeding conveying mechanism is installed at the front end of the stacker frame 3, the shifting piece indexing mechanism is installed at the front end of the upper end face of the stacker frame 3, the shifting piece indexing mechanism is matched with the rear end of the feeding conveying mechanism, the pushing mechanisms are symmetrically distributed on two sides of the stacker frame 3, the steering and indexing conveying devices correspond to the pushing mechanisms one by one, the steering and indexing conveying devices are located at the rear end of the pushing mechanisms, and the pushing mechanisms are matched with the steering and indexing conveying devices. The feeding conveyor mechanism is connected with the output end of a bagged material flow line, bagged materials enter a stacking machine head through the feeding conveyor mechanism from a production line, after entering the stacking machine head, the shifting piece indexing mechanism pushes the bagged materials to a specified pushing mechanism according to a generated stacking scheme, the last bagged material is pushed to the pushing mechanism at the right end, the next bagged material is pushed to the pushing mechanism at the left end, the pushing mechanism pushes the bagged materials to the steering transposition conveyor device, the steering transposition conveyor device moves in the vehicle width direction according to the stacking scheme, and the bagged materials are stacked to a specified position of a carriage. The bagged materials are stacked in the carriage in sequence, after a transverse row of bagged materials are stacked, the moving trolley drives the stacking frame to move backwards to perform the next row of stacking until the last row of one layer is stacked, at the moment, the lifting frame drives the stacking frame to move up and down, and the next layer of bagged materials continues to be stacked.

As shown in fig. 5 and 6, the feeding conveying mechanism includes a feeding section conveying structure, a platform section conveying mechanism and a pull rod type adjusting mechanism, the rear end of the feeding section conveying structure is rotatably connected with the stacker frame 3, the platform section conveying mechanism is located in the stacker frame 3, the rear end of the feeding section conveying structure is matched with the front end of the platform section conveying mechanism, the front end of the pull rod type adjusting mechanism is connected with the feeding section conveying structure, the rear end of the pull rod type adjusting mechanism is connected with the stacker frame 3, and a sensor 6 is arranged at the upper end of the stacker frame 3 and between the feeding section conveying structure and the platform section conveying mechanism. The feeding section conveying structure keeps consistent with the linear speed of a bagged material production line and rotates consistently, and when the sensor does not contain bagged materials, the platform section conveying mechanism keeps static and the feeding section conveying structure rotates; when the sensor detects bagged materials, the platform section conveying belt rotates, and the rotation time is set according to the length of the bagged materials and the speed of the production line. The rotating speed of the platform section conveying mechanism is continuously reduced, the bagged materials are gradually reduced under the driving of the platform section conveying mechanism, the bagged materials are prevented from impacting a baffle at the top end of the platform section conveying mechanism, the shape of the bagged materials is inconvenient, the flatness is good, and the stacking quality is guaranteed. The inclination angle of the feeding section conveying structure can be adjusted through the pull rod type adjusting mechanism, the bag-shaped material conveying mechanism is suitable for bag-shaped material production lines in various environments, and the practicability is good.

As shown in fig. 6 to 8, the feeding section conveying structure includes a first supporting frame 7 and a first conveying belt 8, the first conveying belt 8 is rotatably connected to the first supporting frame 7, square pipes are disposed on two sides of an upper end of the first supporting frame 7, the first conveying belt is supported between the two square pipes, a driving roller for driving the first conveying belt 8 to transmit and a dragging roller for supporting the first conveying belt are disposed between the two square pipes, and a baffle is disposed at an upper end of each square pipe and used for restricting a movement track of bagged materials; a first bolt 9 is arranged at the rear end of the first supporting frame 7, the first supporting frame 7 is rotatably connected with the stacker crane frame 3 through the first bolt 9, a second bolt 10 and a third bolt 11 are arranged at the front end of the first supporting frame 7, the bottom of the feeding section conveying mechanism is fixed together with the bottom of the stacker crane head through the first bolt 9, the second bolt 10 at the upper part is connected with the upper part of the stacker crane head through two pull rod type adjusting structures, and the third bolt 11 is butted with a bagged material assembly line and fixed together with the bagged material assembly line; the platform section conveying mechanism comprises a second supporting frame 12 and a second conveying belt 13, the second conveying belt 13 is rotatably connected with the second supporting frame 12, and a driving roller for driving the second conveying belt 13 to transmit and a drag roller for supporting the second conveying belt are arranged in the second supporting frame 12; pull rod formula adjustment mechanism includes sleeve 14 and connector 15, and 15 symmetric distributions of connector are at sleeve 14 both ends, threaded connection between connector 15 and the sleeve 14, the front end connector 15 is connected with second bolt 10, the rear end connector 15 is connected with hacking machine frame 3 upper end, be equipped with the nut on the connector 15, through rotating adjusting nut, adjust whole pull rod formula adjustment mechanism length, and then adjust feeding section transport structure angle, convenient and assembly line butt joint.

As shown in fig. 9 to 11, the shifting sheet indexing mechanism includes a scraping plate 16 and a first belt 17, first belt pulleys 18 are respectively disposed at two ends of the stacker frame 3, two ends of the first belt 17 are engaged with the first belt pulleys 18, a first motor 19 is disposed at the left end of the stacker frame 3, an output shaft of the first motor 19 is connected with the first belt pulleys 18, the upper end of the scraping plate 16 is slidably connected with the stacker frame 3, and the middle position of the first belt 17 is connected with the scraping plate 16; the belt pulley is driven to rotate through the first motor 19, the scraper is driven to move left and right through the belt 19, the upper end of the scraper 16 is connected with the stacker crane frame 3 in a sliding mode, and the middle position of the first belt 17 is connected with the scraper 16. Two ends of the stacker frame 3 are respectively provided with a support frame, the first belt pulley 18 is arranged in the support frames, a tensioning mechanism is arranged in the support frames 5, and a belt is tensioned in a screw nut driving mode; the upper end of the scraper 16 is provided with a transverse plate 20, the front end and the rear end of the transverse plate 20 are respectively provided with a guide wheel 21, a circular guide rail 22 is arranged in the stacker crane frame 3, the guide wheels 21 are matched with the circular guide rail 22, and the upper-section first belt 17 is connected with the transverse plate 20. Be equipped with the recess on the face of leading wheel 21 outer cylinder, the scraper blade 16 upper end is equipped with the opening, and first belt passes the opening, and the first belt 17 of upper segment is connected with diaphragm 20, and leading wheel 21 is equipped with four, and diaphragm 20 both sides respectively are equipped with two leading wheels 21.

Setting the initial position of a scraper to be positioned at one side of the stacking device, and when bagged materials enter a subpackaging indexing mechanism, driving a belt to rotate in the forward direction by a driving mechanism, driving the scraper to move by the belt, and then pushing the bagged materials to subpackage to one side; when the next bagged material enters the indexing mechanism, the motor of the driving mechanism rotates reversely, and the belt drives the scraper to move reversely. Due to the double-roller design, the guide mechanism does not deform in the process of pushing bagged materials with large mass, and the bagged materials can be conveyed to a designated position stably. In the stacking process, the whole indexing mechanism moves in a reciprocating manner along with the input of bagged materials, so that stable and reliable indexing operation of the bagged materials is realized. The upper space of the stacking device is fully utilized, and the occupied size is small; the double-roller design realizes reliable transposition pushing of large-mass bagged materials; in the working process, the operation of the next bag of bagged materials is not influenced, and the overall stacking efficiency is improved.

As shown in fig. 5, the pushing mechanism includes a pushing plate 23 and a second belt 24, belt pulleys are arranged at the front end and the middle position of the stacker frame 3, a second motor 25 for driving the second belt 24 to rotate is arranged at the front end of the stacker frame 3, the pushing plate 23 is connected with the stacker frame 3 in a sliding manner, a guide rail is arranged in the stacker frame 3, guide wheels are arranged at the two ends of the pushing plate 23 and matched with the guide rail, and the second motor 25 drives the pushing plate 23 to move back and forth through the second belt 24.

As shown in fig. 12, the steering, transposition and conveying device comprises a stacker frame 3, a suspension type transposition and transposition mechanism and a box-type manipulator mechanism, wherein the suspension type transposition and transposition mechanism is installed at the rear end of the stacker frame 3 and is connected with the stacker frame 3 in a sliding manner, the suspension type transposition and transposition mechanism is distributed in the stacker frame 3 in a bilateral symmetry manner, and the box-type manipulator mechanism is installed at the lower end of the suspension type transposition mechanism. In order to realize high-speed loading and stacking, the stacking frame realizes double-channel conveying of bagged materials, and loading and stacking are realized through the cooperation of two sets of suspension type steering and transposition conveying devices. The suspension type steering transposition conveying device is characterized in that the initial positions of the suspension type steering transposition conveying device are located on two sides of the stacking machine head, after bagged materials enter the box-type manipulator, the suspension type transposition indexing mechanism drives the box-type manipulator to rotate by a corresponding angle according to angle information in a stacking instruction, and meanwhile, the suspension type transposition indexing mechanism drives the box-type manipulator to move in the transverse direction according to position information in the stacking instruction. After the suspension type transposition indexing mechanism arrives at the assigned position, the cylinders on two sides of the box-type manipulator are opened to drive the double-door panel to be opened, the bagged materials are stacked, the box-type manipulator is closed, and meanwhile, the suspension type transposition indexing mechanism returns to the original position to wait for stacking operation of the next bag of bagged materials on the side.

As shown in fig. 13 and 14, the suspension type transposition indexing mechanism includes a housing 26 and a rotating shaft 27, the housing 26 is slidably connected with the stacker crane frame 3, guide wheels are arranged at two ends of the housing 26, a circular guide rail is arranged in the stacker crane frame 3, the guide wheels are matched with the circular guide rail, the housing 26 is driven by a motor belt with the stacker crane frame 3, the rotating shaft 27 is rotatably connected with the housing 26 by a bearing, a third motor 28 is arranged in the housing 26, a gear 29 is arranged on an output shaft of the third motor 28, a sector gear 30 is arranged at the upper end of the rotating shaft 27, the gear 29 is engaged with the sector gear 30, and the third motor drives the rotating shaft to rotate by the gear and the sector gear. Casing 26 passes through motor belt drive, including motor and belt, pile up neatly machine frame both ends all are equipped with the belt pulley, belt and belt pulley cooperation, and the motor is fixed in pile up neatly machine frame left end, and the motor output shaft is connected with the left end leading wheel, and the motor passes through the belt and removes about the leading wheel drive casing. Be equipped with the circle guide rail in the pile up neatly machine frame, leading wheel and the cooperation of circle guide rail all are equipped with eight leading wheels on every casing, and four angles departments of casing lower extreme respectively are equipped with two leading wheels, lie in the casing side respectively and the casing lower extreme, realize the spacing of casing.

As shown in fig. 15 and 16, the box-type manipulator mechanism includes a box 31 and a switch door 32, the lower end of the rotating shaft 27 is connected to the box 31, one end of the outer side of the switch door 32 is rotatably connected to the inner wall of the box 31, both sides of the box 31 are provided with cylinders 33, the piston rod ends of the cylinders 33 are provided with connecting rods 34, the cylinder ends of the cylinders 33 are connected to the upper end of the box 31, the middle position of the connecting rods 34 is rotatably connected to the lower end of the box 31, the piston rod ends of the cylinders 33 are rotatably connected to one end of the outer side of the connecting rods 34, one end of the inner side of the connecting.

In the description of the present invention, it should be noted that the terms "left", "right", "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting 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; they may be mechanically or electrically connected, directly or indirectly through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Claims

1. The utility model provides an automatic pile up neatly device of material in bags, its characterized in that, including dolly (1) that moves, lifting frame (2) and pile up neatly aircraft nose, sliding connection between lifting frame (2) and the dolly (1) that moves, be equipped with direction hoist mechanism between lifting frame (2) and the dolly (1) that moves, the pile up neatly aircraft nose includes pile up neatly machine frame (3), material loading transport mechanism, plectrum transposition mechanism, pushing mechanism and turns to transposition conveyor, install at lifting frame (2) lower extreme pile up neatly machine frame (3), and material loading transport mechanism, plectrum transposition mechanism, pushing mechanism and the transposition conveyor that turns to all install in pile up neatly machine frame (3).

2. The automatic bagged material stacking device as claimed in claim 1, further comprising a rail (1), wherein the traveling trolley (2) moves along the rail (1), an opening (4) is formed in the traveling trolley (2), the lifting frame (3) is located in the opening (4), the guiding and lifting mechanism comprises lifting guide frames (5), the lifting guide frames (5) are distributed on two sides of the opening (4) in a bilateral symmetry manner, the lifting guide frames (5) are rectangular frames, and the lifting guide frames (5) are connected with the lifting frame (3) in a sliding manner.

3. An automatic palletizer for bagged materials according to claim 1, wherein the feeding conveyor mechanism is arranged at the front end of the palletizer frame (3), the shifting piece indexing mechanism is arranged at the front end of the upper end face of the palletizer frame (3), the shifting piece indexing mechanism is matched with the rear end of the feeding conveyor mechanism, the pushing mechanisms are symmetrically distributed at two sides of the palletizer frame (3), the turning indexing conveyor devices are in one-to-one correspondence with the pushing mechanisms, the turning indexing conveyor devices are arranged at the rear end of the pushing mechanisms, and the pushing mechanisms are matched with the turning indexing conveyor devices.

4. An automatic palletizing device for bagged materials according to claim 3, wherein the feeding conveying mechanism comprises a feeding section conveying structure, a platform section conveying mechanism and a pull rod type adjusting mechanism, the rear end of the feeding section conveying structure is rotatably connected with the palletizer frame (3), the platform section conveying mechanism is positioned in the palletizer frame (3), the rear end of the feeding section conveying structure is matched with the front end of the platform section conveying mechanism, the front end of the pull rod type adjusting mechanism is connected with the feeding section conveying structure, the rear end of the pull rod type adjusting mechanism is connected with the palletizer frame (3), and a sensor (6) is arranged at the upper end of the palletizer frame (3) between the feeding section conveying structure and the platform section conveying mechanism.

5. An automatic palletizing device for bagged materials according to claim 4, characterized in that said feeding section conveying structure comprises a first supporting frame (7) and a first conveyor belt (8), the first conveyor belt (8) being rotatably connected to the first supporting frame (7);

a first bolt (9) is arranged at the rear end of the first supporting frame (7), the first supporting frame (7) is rotatably connected with the stacker frame (3) through the first bolt (9), and a second bolt (10) and a third bolt (11) are arranged at the front end of the first supporting frame (7);

the platform section conveying mechanism comprises a second supporting frame (12) and a second conveying belt (13), and the second conveying belt (13) is rotatably connected with the second supporting frame (12);

pull rod formula adjustment mechanism includes sleeve (14) and connector (15), and connector (15) symmetric distribution is at sleeve (14) both ends, threaded connection between connector (15) and sleeve (14), front end connector (15) are connected with second bolt (10), the rear end connector (15) are connected with pile up neatly machine frame (3) upper end.

6. The automatic bagged material stacking device according to claim 3, wherein the shifting sheet indexing mechanism comprises a scraper (16) and a first belt (17), the two ends of the stacker frame (3) are respectively provided with a first belt pulley (18), the two ends of the first belt (17) are matched with the first belt pulleys (18), the left end of the stacker frame (3) is provided with a first motor (19), the output shaft of the first motor (19) is connected with the first belt pulleys (18), the upper end of the scraper (16) is connected with the stacker frame (3) in a sliding manner, and the middle position of the first belt (17) is connected with the scraper (16);

scraper blade (16) upper end is equipped with diaphragm (20), and both ends all are equipped with leading wheel (21) around diaphragm (20), are equipped with round guide rail (22) in pile up neatly machine frame (3), and leading wheel (21) and round guide rail (22) cooperation, upper segment first belt (17) are connected with diaphragm (20).

7. An automatic palletizing device for bagged materials according to claim 3, characterized in that the pushing mechanism comprises a pushing plate (23) and a second belt (24), the front end and the middle position of the palletizer frame (3) are respectively provided with a belt pulley, the front end of the palletizer frame (3) is provided with a second motor (25) for driving the second belt (24) to rotate, and the pushing plate (23) is connected with the palletizer frame (3) in a sliding way.

8. The automatic bagged material palletizer as claimed in claim 3, wherein the steering transposition conveyor device comprises a palletizer frame (3), a suspension type transposition indexer and a box type manipulator mechanism, the suspension type transposition indexer is installed at the rear end of the palletizer frame (3) and is connected with the palletizer frame (3) in a sliding manner, the suspension type transposition indexer is distributed in the palletizer frame (3) in a bilateral symmetry manner, and the box type manipulator mechanism is installed at the lower end of the suspension type transposition indexer.

9. The automatic bagged material palletizing device according to claim 8, wherein the suspension type transposition and indexing mechanism comprises a housing (26) and a rotating shaft (27), the housing (26) is slidably connected with the palletizer frame (3), the housing (26) is driven by a motor belt with the palletizer frame (3), the rotating shaft (27) is rotatably connected with the housing (26), a third motor (28) is arranged in the housing (26), a gear (29) is arranged on an output shaft of the third motor (28), a sector gear (30) is arranged at the upper end of the rotating shaft (27), and the gear (29) is engaged with the sector gear (30).

10. The automatic bagged material stacking device as claimed in claim 8, wherein the box-type manipulator mechanism comprises a box body (31) and a switch door (32), the lower end of the rotating shaft (27) is connected with the box body (31), one end of the outer side of the switch door (32) is rotatably connected with the inner wall of the box body (31), air cylinders (33) are arranged on two sides of the box body (31), piston rod ends of the air cylinders (33) are provided with connecting rods (34), the end of each air cylinder (33) is connected with the upper end of the box body (31), the middle position of each connecting rod (34) is rotatably connected with the lower end of the box body (31), the end of each air cylinder (33) is rotatably connected with one end of the outer side of each connecting rod (34), and one end of the inner side of each connecting rod.