CN112960421B - Automatic loading system and its application - Google Patents
Automatic loading system and its application Download PDFInfo
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- CN112960421B CN112960421B CN202110453831.4A CN202110453831A CN112960421B CN 112960421 B CN112960421 B CN 112960421B CN 202110453831 A CN202110453831 A CN 202110453831A CN 112960421 B CN112960421 B CN 112960421B
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- 230000007246 mechanism Effects 0.000 claims description 92
- 239000000463 material Substances 0.000 claims description 36
- 239000004568 cement Substances 0.000 claims description 33
- 230000000903 blocking effect Effects 0.000 claims description 30
- 238000001514 detection method Methods 0.000 claims description 21
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 abstract description 11
- 230000008569 process Effects 0.000 abstract description 11
- 239000000428 dust Substances 0.000 abstract description 8
- 239000003638 chemical reducing agent Substances 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000007599 discharging Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000005570 vertical transmission Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/08—Loading land vehicles using endless conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- Intermediate Stations On Conveyors (AREA)
Abstract
本发明公开了自动装车系统及其应用，自动装车系统包括支撑导轨、移动升降台、输送排垛装置和升降码垛装置；所述移动升降台安装在支撑导轨上，所述移动升降台包括升降平台和移动托架，所述升降平台的底部对称设置有两个移动托架，移动托架滑动设置在支撑导轨上；输送排垛装置和升降码垛装置均安装移动升降台上；输送排垛装置包括输送段和输送排垛装置升降段，输送段将装车巷道上的待输送物输送至输送排垛装置升降段进行排垛；所述升降码垛装置包括驱动组件和垛叉，所述驱动组件用于驱动垛叉竖直升降、水平移动和旋转，所述垛叉用于将排垛后的待输送物运送至运输车辆。本发明解决了现有装车设备导致装车过程二次扬尘大、易烂包的问题。
The present invention discloses an automatic loading system and its application, wherein the automatic loading system comprises a supporting guide rail, a mobile lifting platform, a conveying and stacking device and a lifting and stacking device; the mobile lifting platform is installed on the supporting guide rail, the mobile lifting platform comprises a lifting platform and a mobile bracket, two mobile brackets are symmetrically arranged at the bottom of the lifting platform, and the mobile bracket is slidably arranged on the supporting guide rail; the conveying and stacking device and the lifting and stacking device are both installed on the mobile lifting platform; the conveying and stacking device comprises a conveying section and a conveying and stacking device lifting section, the conveying section conveys the objects to be transported on the loading lane to the conveying and stacking device lifting section for stacking; the lifting and stacking device comprises a driving assembly and a stacking fork, the driving assembly is used to drive the stacking fork to lift vertically, move horizontally and rotate, and the stacking fork is used to transport the objects to be transported after stacking to a transport vehicle. The present invention solves the problem that the existing loading equipment causes large secondary dust and easy rotten bags during the loading process.
Description
Technical Field
The invention relates to the technical field of automatic loading equipment, in particular to an automatic loading system and application thereof.
Background
At present, the production and packaging of bagged cement are basically automated, but the transportation and loading of the bagged cement are mostly carried out by adopting a manual auxiliary semi-automatic mode, so that the labor intensity is high, site dust is serious, the environment is not up to standard, the health of workers is greatly harmed, and enterprises need to pay high manual loading cost every year, thereby causing the over-high production cost and the reduction of competitiveness. And along with the improvement of the life quality of people and the strict implementation of safe production and professional health regulations, cement production enterprises are gradually in the situation of high salary and unable to recruit car loaders. The automatic loading equipment with high efficiency, reliability and good dustproof effect is developed, the automation and intelligent loading of the bagged cement are realized, the automatic loading equipment is an effective means for reducing the cost and enhancing the efficiency of cement production enterprises in the future and improving the competitiveness of the enterprises, and is also a necessary way for realizing intelligent manufacturing in the cement industry.
The research on the automatic loading equipment at home and abroad is started early, a plurality of automatic loading machines have been developed, and the effect is good in the actual use, but aiming at the situation that the number of domestic transportation vehicles is large, the introduced automatic loading equipment has poor adaptability and low equipment utilization rate. At present, the domestic automatic bagged cement truck loader mainly adopts a bag dropping mode (patent application number: 201610633614.2 of Chinese patent "bagged material truck loader") and simultaneously adopts a plate pulling mode (patent application number: 201821829949.2 of Chinese patent "automatic bagged cement truck loader") and a robot "grabbing" stacking mode, and the automatic bagged cement truck loader can be realized by the modes without manual assistance.
The existing loading equipment has the following defects:
1) large secondary dust emission in the loading process and serious pollution, 2) the condition of rotting package in the loading process, 3) poor dustproof effect of equipment, serious abrasion of devices and low reliability, 4) poor self-adaptive capacity and high requirement on parking positions, and 5) the need of reconstruction of the existing factory buildings of cement trucks.
Disclosure of Invention
The invention aims to provide an automatic loading system, which solves the problems of large secondary dust emission and easy rotting package in the loading process caused by the existing loading equipment.
In addition, the invention also provides application of the automatic loading system.
The invention is realized by the following technical scheme:
The automatic loading system is used for supporting the guide rail, the movable lifting table, the conveying and stacking device and the lifting and stacking device;
The movable lifting platform is arranged on the support guide rail and can move on the support guide rail, and comprises a lifting platform and movable brackets, wherein two movable brackets are symmetrically arranged at the bottom of the lifting platform and are respectively arranged on the two support guide rails in a sliding manner;
the conveying stacking device and the lifting stacking device are arranged on the movable lifting table;
the conveying and stacking device comprises a conveying section and a conveying and stacking device lifting section, the input end of the conveying section is matched with the loading roadway, and the conveying section conveys objects to be conveyed on the loading roadway to the conveying and stacking device lifting section for stacking;
The lifting stacking device comprises a driving assembly and a stacking fork, wherein the driving assembly is used for driving the stacking fork to vertically lift, horizontally move and rotate, the stacking fork is used for conveying objects to be conveyed after stacking to a transport vehicle, and the whole loading process is gravity-free drop, so that secondary dust emission can be avoided.
The invention adopts automatic control for each component.
The support guide rail is arranged on the ground of a roadway and used as a base of the whole automatic loading system, the movable lifting platform horizontally moves on the support guide rail, the movable lifting platform is used for realizing the height adjustment of the conveying stacking device and the lifting stacking device in the vertical direction, the conveying stacking device is used for conveying cement bags (objects to be conveyed) and arranging the cement bags into stacks according to requirements, and the lifting stacking device is used for supporting the arranged cement bags into a carriage.
According to the automatic conveying, stacking and loading device, the movable lifting table, the conveying and stacking device and the lifting and stacking device which are matched with each other are arranged, so that automatic conveying, stacking and loading of the cement bags can be realized, and secondary dust raising and bag rotting of the cement bags under the action of gravity can be avoided.
Further, the lifting platform comprises a platform table top, the bottom of the platform table top is connected with the movable bracket through a lifting platform scissor fork mechanism, and a driving mechanism of the platform table top comprises a hydraulic cylinder driving mechanism, a cylinder driving mechanism, an electric push rod, a hydraulic push rod, an electromagnetic switch or a spring mechanism.
Further, a touch sensing device is arranged on the lower end face of the platform surface and is in communication connection with the control system, and a driving mechanism of the platform surface is in communication connection with the control system.
Further, the sliding mode of the movable bracket on the supporting guide rail comprises roller slide rail driving or gear rack driving.
Further, the conveying section comprises a fixed section of the conveying stacking device, a front-end conveying belt, a steel frame platform and a movable slope conveyor;
The conveying and stacking device fixing section comprises a slope conveyor, a linear conveyor and a turning conveyor which are arranged on a steel frame platform, wherein the input end of the slope conveyor is matched with the output end of a front-end conveying belt, the input end of the front-end conveying belt is positioned at the top of a loading roadway, the output end of the slope conveyor is connected with the input end of a movable slope conveyor through a plurality of linear conveyors and a plurality of turning conveyors, and the steel frame platform is fixedly connected with a movable bracket;
The lifting section of the conveying and stacking device is arranged on the movable lifting table and comprises a material package steering conveyor, a roller conveyor, a stacking conveyor, a package pushing mechanism and a package blocking mechanism;
the conveying device comprises a movable slope conveyor, a material packet turning conveyor, a material packet conveying conveyor, a material packet pushing mechanism, a material packet stacking conveyor, a material packet conveying conveyor, a material packet pushing mechanism and a material packet discharging conveyor, wherein the input end of the material packet turning conveyor is matched with the output end of the movable slope conveyor, the output end of the material packet turning conveyor is matched with the input end of the roller conveyor, the material packet discharging conveyor is arranged in the vertical direction of the conveying direction of the roller conveyor, one end of the material packet discharging conveyor is matched with the roller conveyor, the other end of the material packet discharging conveyor is provided with a material packet blocking mechanism, and the material packet pushing mechanism is arranged above the roller conveyor and used for pushing a material to be conveyed onto the material packet discharging conveyor.
Further, the material bag steering conveyor comprises a belt conveyor, a counting device and a material bag steering mechanism;
The input end and the output end of the belt conveyor are respectively matched with the output end of the movable slope conveyor and the input end of the roller conveyor;
the material bag steering mechanism comprises a bracket, a baffle pushing mechanism, a movable baffle and a fixed stop block;
The fixed stop block is arranged above one side of the belt conveyor, the movable baffle is arranged on the belt conveyor, a certain distance is reserved between the fixed stop block and the movable baffle, the baffle pushing mechanism is arranged between the support and the movable baffle, and the posture direction of an object to be conveyed on the belt conveyor is adjusted through the movable baffle and the fixed stop block.
The bale steering conveyor is capable of changing a vertically transmitted cement bale into a horizontally transmitted bale.
Further, the lifting stacking device comprises an upright post, a driving assembly and a stacking fork, wherein the driving assembly comprises an X axis, a Z axis, a Y axis and a C axis;
The vertical column is arranged on the movable lifting table, the X shaft is arranged on the vertical column and comprises a supporting beam, the supporting beam is arranged at the top of the vertical column, a stacking device X-direction horizontal sliding mechanism is arranged on the supporting beam, the Z shaft is arranged on the stacking device X-direction horizontal sliding mechanism through a connecting frame, the Z shaft comprises a mounting frame, a vertical shaft and a stacking device vertical sliding mechanism, one end of the vertical shaft is arranged on the stacking device vertical sliding mechanism, the stacking device vertical sliding mechanism is arranged on the mounting frame, the bottom of the mounting frame is arranged on the connecting frame, the Y shaft comprises a supporting plate and a stacking device Y-direction horizontal sliding mechanism, the supporting plate is arranged at the bottom of the vertical shaft, the stacking device Y-direction horizontal sliding mechanism is arranged on the supporting plate, one end of the C shaft is arranged on the stacking device Y-direction horizontal sliding mechanism, and the other end of the C shaft is connected with a stacking fork through a slewing bearing.
Further, the lifting stacking device also comprises a stacking blocking mechanism;
The two stacking blocking mechanisms are arranged on two sides of the Y axis respectively and comprise stacking blocking baffles, the stacking blocking baffles move up and down through baffle driving mechanisms, and the baffle driving mechanisms are arranged on the supporting plates.
Further, the vehicle information detection device is also included;
the vehicle information detection device comprises a mounting bracket, a vehicle detection linear module, a laser ranging sensor and an adapter plate;
The mounting bracket is mounted on the lifting platform, the adapter plate is mounted on the mounting bracket, the vehicle detection linear module is mounted on the adapter plate, and the laser ranging sensor is mounted on the vehicle detection linear module.
The vehicle information detection device can be used for detecting information such as offset of a vehicle, carriage size and the like
The application of the automatic loading system is used for automatically loading materials, wherein the materials comprise cement bags.
The device can also be used for stacking and loading other bagged or boxed materials.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the invention can arrange the transmitted cement bags into neat stacks according to the preset rule, can ensure that the cement bags are always and stably transmitted, does not form gravity fall, and avoids secondary dust and rotten bags.
2. The full-automatic loading machine can complete full-automatic loading work of bagged cement, and large-scale transformation of loading tunnels of existing cement factories is avoided.
3. The invention can detect the parking position and carriage size of the vehicle on line, move along the vehicle width direction, adapt to the offset of the parking center shaft and finish the loading of the cement package without opening the carriage baffle and the rear door.
Drawings
The accompanying drawings, which are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:
FIG. 1 is a schematic view of the installation location of the present invention;
FIG. 2 is a schematic general construction of the present invention;
FIG. 3 is a schematic view of a support rail of the present invention;
FIG. 4 is a schematic view of a mobile lift platform of the present invention;
FIG. 5 is a schematic view of a transport palletizing apparatus according to the present invention;
FIG. 6 is a schematic view of a bale diverting conveyor of the present invention;
FIG. 7 is a schematic illustration of a pushing mechanism of the present invention;
FIG. 8 is a schematic view of the present invention's bag stop mechanism;
FIG. 9 is a general schematic of the lift palletizing apparatus of the present invention;
FIG. 10 is an X-axis schematic view of the lift palletizing device of the present invention;
FIG. 11 is a Z-axis schematic view of the lift palletizing device of the present invention;
FIG. 12 is a schematic view of a Y-axis C-axis and fork of the lift palletizer of the present invention;
fig. 13 is a schematic diagram of a vehicle information detection apparatus of the present invention.
In the drawings, the reference numerals and corresponding part names:
The system comprises a 1-loading roadway, a 2-supporting guide rail, a 3-movable lifting table, a 4-conveying and stacking device, a 5-lifting and stacking device, a 6-control cabinet and a 7-vehicle information detection device; 21-track steel, 22-supporting I-steel, 23-guide rail upright posts, 24-welding press blocks and 25-foundation flange bolts; 31-lifting platform, 311-lifting platform scissor fork mechanism, 312-hydraulic cylinder, 313-platform table top, 314-touch sensing device, 32-moving bracket, 321-steel frame, 322-roller, 41-conveying and stacking device fixing section, 411-slope conveyor, 412-linear conveyor, 413-turning conveyor, 42-conveying and stacking device lifting section, 421-bale steering conveyor, 4211-belt conveyor, 4212-counting device, 4213-bale steering mechanism, 42131-bracket, 42132-baffle pushing mechanism, 42133-movable baffle, 42134-fixed baffle, 422-roller conveyor, 423-stacking conveyor, 424-pushing mechanism, 4241-underframe, 4242-pushing cylinder, 4243-jacking cylinder, 4244-fluent strip, 4245-pushing baffle, 425-blocking mechanism, 4251-mounting frame, 4252-transmission lead screw, 53-sliding guide rail, 4254-blocking baffle, 4255-decelerating motor, 43-front end conveying belt, 44-45-roller conveyor, 521-supporting shaft, 521-supporting and supporting frame, 521-supporting the platform, 522-first rack, 523-first gear, 524-movable slide rail, 525-first servo motor, 526-first double-output speed reducer, 527-connecting frame, 53-Z axis, 531-mounting frame, 532-second rack, 533-second gear, 534-vertically movable slide rail, 535-second servo motor, 536-second double-output speed reducer, 537-connecting plate, 538-vertical axis, 54-Y axis, 541-support plate, 542-Y axis straight line module, 543-third servo motor, 544-movable slide block, 55-C axis, 551-fourth servo motor, 552-slewing bearing, 56-stack blocking mechanism, 561-guide rod cylinder, 562-stack blocking baffle, 57-stack fork, 71-mounting frame, 72-vehicle detection straight line module, 73-laser ranging sensor, 74-plate.
Detailed Description
For the purpose of making apparent the objects, technical solutions and advantages of the present invention, the present invention will be further described in detail with reference to the following examples and the accompanying drawings, wherein the exemplary embodiments of the present invention and the descriptions thereof are for illustrating the present invention only and are not to be construed as limiting the present invention.
Example 1:
As shown in fig. 1 to 13, the automatic loading system comprises a support guide rail 2, a movable lifting table 3, a conveying and stacking device 4 and a lifting and stacking device 5;
The movable lifting platform 3 is arranged on the support guide rail 2 and can move on the support guide rail 2, the movable lifting platform 3 comprises a lifting platform 31 and movable brackets 32, two movable brackets 32 are symmetrically arranged at the bottom of the lifting platform 31, and the two movable brackets 32 are respectively and slidably arranged on the two support guide rails 2;
The conveying and stacking device 4 and the lifting and stacking device 5 are arranged on the movable lifting table 3;
the conveying and stacking device 4 comprises a conveying section and a conveying and stacking device lifting section 42, the input end of the conveying section is matched with the loading roadway 1, and the conveying section conveys objects to be conveyed on the loading roadway 1 to the conveying and stacking device lifting section 42 for stacking;
the lifting stacking device 5 comprises a driving assembly and a stacking fork 57, wherein the driving assembly is used for driving the stacking fork 57 to vertically lift, horizontally move and rotate, and the stacking fork 57 is used for conveying objects to be conveyed after stacking to a transport vehicle.
In the present embodiment, the support rail 2 is installed on the roadway floor as a base of the entire automatic loader, and the movable lift table 3 is horizontally moved thereon. The movable lifting platform 3 is provided with a conveying and stacking device 4, a lifting stacking device 5, a vehicle information detection device 7, a control cabinet 6 and the like, the movable lifting platform 3 carries the movable lifting platform to perform vertical lifting movement and horizontal movement, the conveying and stacking device 4 is used for conveying the cement bags and arranging the cement bags as required, the lifting stacking device 5 is used for supporting the well-arranged cement bags into a carriage, and the automatic loading system is arranged in the loading roadway 1 of a factory during use.
In this embodiment, the support rail 2 is composed of rail steel 21, support i-steel 22, upright 23, etc., and is distributed on the left and right sides in a double-rail manner. The rail steel 21 and the supporting I-steel 22 are fixed through a welding press block 24, guide rail upright posts 23 are uniformly distributed below the supporting I-steel 22 and fixed with the ground, and the height can be adjusted through foundation flange bolts 25 so as to adapt to the unevenness of the ground.
In this embodiment, the lifting platform 31 includes a platform surface 313, and the bottom of the platform surface 313 is connected to the moving bracket 32 through the lifting platform scissor mechanism 311.
The lifting platform 31 adopts a hydraulic-driven scissor fork structure 311, and the four hydraulic cylinders 312 synchronously control the lifting platform to realize stable lifting of the platform table top 313. The lower part of the platform table top 313 is provided with a touch sensing device 314, the touch sensing device 314 is in communication connection with a control system, the control system is installed in a control cabinet 6, the control cabinet 6 is positioned on the movable lifting table 3, the control of the whole loading process of the automatic loading system is realized, a driving mechanism of the platform table top 313 is in communication connection with the control system, when the touch sensing device 314 contacts with the side barrier plates of the carriage in the descending process of the lifting platform 31, the control system controls the lifting platform 31 to stop descending after receiving feedback signals, and no transverse pull beam is arranged below the platform table top 313, so that the vehicle can conveniently pass.
The movable bracket 32 consists of a steel frame 321 and rollers 322, and is synchronously driven by two groups of servo motors, so that accurate positioning in the moving process can be realized. In order to improve the movement accuracy, the sliding manner of the movement carriage 32 on the support rail 2 may be a cogged bar drive.
In this embodiment, the conveying section includes a conveying unstacking device fixing section 41, a front end conveying belt 43, a steel frame platform 44 and a movable slope conveyor 45;
The conveying and stacking device fixing section 41 comprises a slope conveyor 411, a linear conveyor 412 and a turning conveyor 413 which are arranged on a steel frame platform 44, wherein the input end of the slope conveyor 411 is matched with the output end of a front-end conveying belt 43, the input end of the front-end conveying belt 43 is matched with a loading roadway 1, the output end of the slope conveyor 411 is connected with the input end of a movable slope conveyor 45 through a plurality of linear conveyors 412 and a plurality of turning conveyors 413, and the steel frame platform 44 is fixedly connected with a movable bracket 32;
The lifting section 42 of the conveying and stacking device is arranged on the movable lifting table 3 and can horizontally move and lift along with the movable lifting table 3, and the lifting section 42 of the conveying and stacking device comprises a material packet steering conveyor 421, a roller conveyor 422, a stacking conveyor 423, a pushing mechanism 424 and a blocking mechanism 425;
The input end of the package turning conveyor 421 is matched with the output end of the movable slope conveyor 45, the output end of the package turning conveyor 421 is matched with the input end of the roller conveyor 422, the stack arranging conveyor 423 is arranged in the vertical direction of the conveying direction of the roller conveyor 422, one end of the stack arranging conveyor 423 is matched with the roller conveyor 422, the other end of the stack arranging conveyor 423 is provided with a package blocking mechanism 425, and the package pushing mechanism 424 is arranged above the roller conveyor 422 and is used for pushing objects to be conveyed onto the stack arranging conveyor 423.
The package turning conveyor 421 comprises a belt conveyor 4211, a counting device 4212 and a package turning mechanism 4213;
The input end and the output end of the belt conveyor 4211 are respectively matched with the output end of the movable slope conveyor 45 and the input end of the roller conveyor 422, and the counting device 4212 is arranged above the input end of the belt conveyor 4211;
the bag steering mechanism 4213 comprises a bracket 42131, a baffle pushing mechanism 42132, a movable baffle 42133 and a fixed stop 42134, wherein the bag steering mechanism 4213 can change a vertical transmission cement bag into a transverse transmission, and the concrete process is as follows:
When the vertically transmitted material packet passes through the steering mechanism 4213, the control system controls the baffle pushing mechanism 42132 to push the movable baffle 42133 to move forwards according to the feedback signal of the counting device 4212, so that the motion track of the vertically transmitted material packet is changed, the vertically transmitted material packet is contacted with the fixed stop 42134, and the material packet transmission posture is changed into a transverse state;
The ladle pushing mechanism 424 comprises a bottom frame 4241, a ladle pushing cylinder 4242, a jacking cylinder 4243, a fluent strip 4244 and a ladle pushing baffle 4245, wherein the bottom frame 4241 is arranged below a roller of the roller conveyor 422 and is connected with a wire body of the roller conveyor 422, the ladle pushing cylinder 4242 is fixed on a side plate of the bottom frame 4241, the jacking cylinder 4243 is fixed on a cross beam of the bottom frame 4241, the fluent strip 4244 is arranged at the front end of a piston rod of the jacking cylinder 4243, the ladle pushing baffle 4245 is arranged at the front end of the piston rod of the ladle pushing cylinder 4242, and the ladle pushing mechanism 424 is arranged on the roller conveyor 422 and is used for pushing cement packages transmitted to the roller conveyor 422 to the stacking conveyor 423;
the bag blocking mechanism 425 is located at the tail end of the stack arranging conveyor 423, the bag blocking mechanism 425 comprises a mounting frame 4251, a transmission screw 4252, a sliding guide rail 4253, a bag blocking baffle 4254 and a speed reducing motor 4255, the sliding guide rail 4253 is arranged at the top of the mounting frame 4251, the bag blocking baffle 4254 is arranged in the sliding guide rail 4253 in a sliding mode, the bag blocking baffle 4254 is pushed by the transmission screw 4252, one end of the transmission screw 4252 is connected with the output end of the speed reducing motor 4255, and the bag blocking baffle 4254 can move along the conveying direction of the stack arranging conveyor 423 and is used for achieving arrangement of stacks with different widths.
The movable slope conveyor 45 between the fixed section 41 and the lifting section 42 of the conveying and stacking device is connected with the lifting section conveyor and the fixed section conveyor through a rotating pair and a moving pair respectively so as to adapt to the lifting movement of the lifting section.
In this embodiment, the lifting stacking device 5 adopts a truss structure, the lifting stacking device 5 comprises a column 51, a driving component and a stack fork 57, the driving component comprises an X-axis 52, a Z-axis 53, a Y-axis 54 and a C-axis 55, the driving component is mainly used for loading the aligned cement package stack into a carriage, when the cement package is aligned on a stack arranging conveyor of a conveying stack arranging device according to a set rule, the Y-axis 54 and the Z-axis 53 of the lifting stacking device are linked to lift the cement package stack from the stack arranging conveyor 423, the Z-axis 53 of the lifting stacking device drives the stack fork 57 to descend into the carriage, a stack blocking mechanism 56 on the Y-axis 54 extends to block the cement package, the stack fork 57 moves backwards to withdraw, the cement package is loaded into the carriage, and the whole loading process is gravity-free, so that secondary dust can be avoided. The lifting stacking device 5 has five degrees of freedom, can adapt to left and right position deviation when a vehicle is parked, and does not need to open side baffle plates and rear doors of the carriage in the loading process.
The upright column 51 is located above the platform surface 313 of the movable lifting platform 3 and is a bearing base of the whole lifting stacking device 5, and an adjusting bolt 511 is designed at a flange at the bottom of the upright column 51 so as to level the whole lifting stacking device;
Wherein, the X axis 52 is installed on the upright post 51, and can drive the Z axis 53, the Y axis 54, the C axis 55 and the fork 57 to horizontally move left and right:
The X-axis 52 comprises a supporting beam 521, the supporting beam 521 is arranged at the top of the upright post 51, a stacking device X-direction horizontal sliding mechanism is arranged on the supporting beam 521, the stacking device X-direction horizontal sliding mechanism comprises a first rack 522, a first gear 523, a movable sliding rail 524, a first servo motor 525 and a first double-output speed reducer 526, the first rack 522 and the movable sliding rail 524 are arranged on the supporting beam 521, two groups of first gears 523, the first servo motor 525 and the first double-output speed reducer 526 are arranged on a connecting frame 527, and the first servo motor 525 drives the first double-output speed reducer 526 to drive the left and right groups of first gears 523 and the first rack 522 to horizontally move left and right.
The Z-axis 53 is mounted on a horizontal sliding mechanism in the X-direction of the stacking device through a connecting frame 527, and can drive the Y-axis 54 and the stacking fork 57 to move up and down, the Z-axis 53 comprises a mounting frame 531, a vertical shaft 538 and a vertical sliding mechanism of the stacking device, the vertical sliding mechanism of the stacking device comprises a second rack 532, a second gear 533, a vertical moving slide rail 534, a second servo motor 535, a second dual-output speed reducer 536 and a connecting plate 537, the second rack 532 and the vertical moving slide rail 534 are fixed on the mounting frame 531, the second gear 533, the second servo motor 535, the second dual-output speed reducer 536 and the vertical shaft 538 are mounted on the connecting plate 537, the second servo motor 535 drives the second dual-output speed reducer 536 to drive the left and right two groups of the second gear 533 and the second rack 532 to move up and down vertically, so that the up-down movement of the Z-axis 53 is realized, the upper end of the vertical shaft 538 is mounted at the lower end of the connecting plate 537, and the bottom of the mounting frame 531 is mounted on the connecting frame 527;
The Y-axis 54 includes a support plate 541 and a stacking device Y-direction horizontal sliding mechanism, the support plate 541 is mounted at the bottom of the vertical shaft 538, the stacking device Y-direction horizontal sliding mechanism includes a Y-axis linear module 542, a third servo motor 543 and a moving slide block 544, the support plate 541 is mounted with the linear module 542 and the third servo motor 543, and the moving slide block 544 moves on the Y-axis linear module 542, so as to drive the C-axis 55 and the stacking fork 57 to move horizontally back and forth.
The C-axis 55 is located on the moving slide block 544 of the Y-axis 54, and includes a fourth servo motor 551 and a pivoting support 552, where the end of the C-axis 55 is connected to the stack fork 57 through the pivoting support 552, and the fourth servo motor 551 drives the pivoting support 552 to drive the stack fork 57 to perform a rotational motion around the Z-axis 53.
And is mounted on a supporting plate 541, one end of the C-shaft 55 is mounted on a horizontal sliding mechanism in the Y-direction of the palletizing device, and the other end is connected to the palletizing fork 57 through a slewing bearing 552.
In this embodiment, the lifting stacking device 5 further includes a stacking mechanism 56;
The two stacking blocking mechanisms 56 are arranged, the two stacking blocking mechanisms 56 are respectively arranged on two sides of the Y-axis 54, each stacking blocking mechanism 56 comprises a stacking blocking baffle plate 562 and a guide rod cylinder 561, a piston rod of each guide rod cylinder 561 is connected with the stacking blocking baffle plate 562, and the cylinder drives the stacking blocking baffle plate 562 to move up and down.
Example 2:
as shown in fig. 1 to 13, the present embodiment is based on embodiment 1, and further includes a vehicle information detection device 7;
The vehicle information detection device 7 comprises a mounting bracket 71, a vehicle detection linear module 72, a laser ranging sensor 73 and an adapter plate 74;
The mounting bracket 71 is mounted on the lifting platform 31, the adapter plate 74 is mounted on the mounting bracket 71, the vehicle detection linear module 72 is mounted on the adapter plate 74, and the laser ranging sensor 73 is mounted on the vehicle detection linear module 72.
In the present embodiment, the vehicle information detection device 7 is used to detect the offset amount of the vehicle, the size of the cabin, and the like. When the vehicle is stationary, the lifting platform 31 descends to the top of the side fence of the vehicle box according to the feedback signal of the touch sensor 314, the vehicle detection linear module 72 descends to the interior of the vehicle box after descending H with the laser ranging sensor 73, the distance L 1、l2、l3、l4 between the measuring point and the left, right, front and rear fence of the vehicle box and the distance H 'between the measuring point and the bottom of the vehicle box are measured by the laser ranging sensor 73, and then the vehicle box width W=l 1+l2, the length L=l 3+l4, the fence height H=h' +h and the vehicle transverse position offset are calculated by the measuring dataBased on the central axle of the vehicle.
Example 3:
as shown in fig. 1 to 13, this embodiment is based on embodiment 1, and differs from embodiment 1 in that:
The ladle pushing mechanism 424 adopts a gantry structure, and a ladle pushing cylinder is arranged above the conveyor, so that a jacking mechanism is eliminated, the whole structure is simplified, and the roller conveyor 422 is replaced by belt conveying.
The foregoing description of the embodiments has been provided for the purpose of illustrating the general principles of the invention, and is not meant to limit the scope of the invention, but to limit the invention to the particular embodiments, and any modifications, equivalents, improvements, etc. that fall within the spirit and principles of the invention are intended to be included within the scope of the invention.
It should be noted that the structures, proportions, sizes, etc. shown in the drawings attached to the present specification are for understanding and reading only by those skilled in the art, and are not intended to limit the scope of the invention, so that any structural modifications, proportional changes, or size adjustments should fall within the scope of the invention without affecting the efficacy and achievement of the present invention. Also, the terms such as "upper", "lower", "left", "right", "middle", and the like are used herein for descriptive purposes only and are not intended to limit the scope of the invention for which the invention may be practiced or for which the relative relationships may be altered or modified without materially altering the technical context.
Claims (7)
1. The automatic loading system is characterized by comprising a supporting guide rail (2), a movable lifting table (3), a conveying and stacking device (4) and a lifting and stacking device (5);
The movable lifting platform (3) is arranged on the support guide rail (2) and can move on the support guide rail (2), the movable lifting platform (3) comprises a lifting platform (31) and movable brackets (32), two movable brackets (32) are symmetrically arranged at the bottom of the lifting platform (31), and the two movable brackets (32) are respectively arranged on the two support guide rails (2) in a sliding manner;
the conveying and stacking device (4) and the lifting and stacking device (5) are arranged on the movable lifting table (3);
the conveying and stacking device (4) comprises a conveying section and a conveying and stacking device lifting section (42), the input end of the conveying section is matched with the loading roadway (1), and the conveying section conveys objects to be conveyed on the loading roadway (1) to the conveying and stacking device lifting section (42) for stacking;
the lifting stacking device (5) comprises a driving component and a stacking fork (57), wherein the driving component is used for driving the stacking fork (57) to vertically lift, horizontally move and rotate, the stacking fork (57) is used for conveying objects to be conveyed after stacking to a transport vehicle,
The lifting stacking device (5) comprises a stand column (51), a driving assembly and a stacking fork (57), wherein the driving assembly comprises an X axis (52), a Z axis (53), a Y axis (54) and a C axis (55);
The vertical column (51) is arranged on the movable lifting table (3), the X-axis (52) is arranged on the vertical column (51), the X-axis (52) comprises a supporting beam (521), the supporting beam (521) is arranged at the top of the vertical column (51), a stacking device X-direction horizontal sliding mechanism is arranged on the supporting beam (521), the Z-axis (53) is arranged on the stacking device X-direction horizontal sliding mechanism through a connecting frame (527), the Z-axis (53) comprises a mounting frame (531), a vertical shaft (538) and a stacking device vertical sliding mechanism, one end of the vertical shaft (538) is arranged on the stacking device vertical sliding mechanism, the stacking device vertical sliding mechanism is arranged on the mounting frame (531), the bottom of the mounting frame (531) is arranged on the connecting frame (527), the Y-axis (54) comprises a supporting plate (541) and a stacking device Y-direction horizontal sliding mechanism, the supporting plate (541) is arranged at the bottom of the vertical shaft (538), the stacking device Y-direction horizontal sliding mechanism is arranged on the supporting plate (541), one end of the C-axis (538) is arranged on the supporting plate (55) in the horizontal sliding mechanism through the other end of the supporting frame (541),
The C-axis (55) is positioned on the movable slide block (544) of the Y-axis (54) and comprises a fourth servo motor (551), the fourth servo motor (551) drives the slewing bearing (552) to drive the stacking fork (57) to rotate around the Z-axis (53),
The conveying section comprises a conveying stacking device fixing section (41), a front-end conveying belt (43), a steel frame platform (44) and a movable slope conveyor (45);
The conveying and stacking device fixing section (41) comprises a slope conveyor (411), a linear conveyor (412) and a turning conveyor (413) which are arranged on a steel frame platform (44), wherein the input end of the slope conveyor (411) is matched with the output end of a front-end conveying belt (43), the input end of the front-end conveying belt (43) is positioned at the top of a loading roadway (1), and the output end of the slope conveyor (411) is connected with the input end of a movable slope conveyor (45) through a plurality of linear conveyors (412) and a plurality of turning conveyors (413), and the steel frame platform (44) is fixedly connected with a movable bracket (32);
The lifting section (42) of the conveying and stacking device is arranged on the movable lifting table (3) and can horizontally move and lift along with the movable lifting table (3), and the lifting section (42) of the conveying and stacking device comprises a material packet steering conveyor (421), a roller conveyor (422), a stacking conveyor (423), a pushing mechanism (424) and a blocking mechanism (425);
The input end of the material packet steering conveyor (421) is matched with the output end of the movable slope conveyor (45), the output end of the material packet steering conveyor (421) is matched with the input end of the roller conveyor (422), the stack arranging conveyor (423) is arranged in the vertical direction of the conveying direction of the roller conveyor (422), one end of the stack arranging conveyor (423) is matched with the roller conveyor (422), the other end of the stack arranging conveyor (423) is provided with a packet blocking mechanism (425), the packet pushing mechanism (424) is arranged above the roller conveyor (422), the packet pushing mechanisms (424) are in one-to-one correspondence with the stack arranging conveyor (423) and are used for pushing objects to be conveyed onto the stack arranging conveyor (423),
The material packet steering conveyor (421) comprises a belt conveyor (4211), a counting device (4212) and a material packet steering mechanism (4213);
the input end and the output end of the belt conveyor (4211) are respectively matched with the output end of the movable slope conveyor (45) and the input end of the roller conveyor (422), and the counting device (4212) is arranged above the input end of the belt conveyor (4211);
The material bag steering mechanism (4213) comprises a bracket (42131), a baffle pushing mechanism (42132), a movable baffle (42133) and a fixed stop block (42134);
The fixed stop block (42134) is arranged above one side of the belt conveyor (4211), the movable baffle (42133) is arranged on the belt conveyor (4211), a certain distance is reserved between the fixed stop block (42134) and the movable baffle (42133), the baffle pushing mechanism (42132) is arranged between the bracket (42131) and the movable baffle (42133), and the posture direction of an object to be conveyed on the belt conveyor (4211) is adjusted through the movable baffle (42133) and the fixed stop block (42134).
2. The automatic loading system according to claim 1, wherein the lifting platform (31) comprises a platform deck (313), the bottom of the platform deck (313) being connected to the mobile carriage (32) by a lifting platform scissor fork mechanism (311).
3. The automatic loading system according to claim 2, wherein a touch sensing device (314) is arranged on the lower end face of the platform table top (313), the touch sensing device (314) is in communication connection with a control system, and the driving mechanism of the platform table top (313) is in communication connection with the control system.
4. The automatic loading system according to claim 1, wherein the sliding manner of the moving carriage (32) on the support rail (2) comprises a roller rail drive or a rack and pinion drive.
5. The automatic loading system according to claim 1, wherein the lift palletizer (5) further comprises a palletizing mechanism (56);
The two stacking blocking mechanisms (56) are arranged, the two stacking blocking mechanisms (56) are respectively arranged on two sides of the Y-axis (54), each stacking blocking mechanism (56) comprises a stacking blocking baffle plate (562), the stacking blocking baffles (562) move up and down through baffle driving mechanisms, and the baffle driving mechanisms are arranged on the supporting plates (541).
6. The automatic loading system according to claim 1, further comprising a vehicle information detecting device (7);
The vehicle information detection device (7) comprises a mounting bracket (71), a vehicle detection linear module (72), a laser ranging sensor (73) and an adapter plate (74);
the mounting support (71) is mounted on the lifting platform (31), the adapter plate (74) is mounted on the mounting support (71), the vehicle detection linear module (72) is mounted on the adapter plate (74), and the laser ranging sensor (73) is mounted on the vehicle detection linear module (72).
7. Use of an automatic loading system according to any of claims 1-6 for automatic loading of materials, including cement bags.
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| CN202110453831.4A CN112960421B (en) | 2021-04-26 | 2021-04-26 | Automatic loading system and its application |
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| CN114394438A (en) * | 2022-02-23 | 2022-04-26 | 四川九洲电器集团有限责任公司 | Stacking device and stacking method of material package stacking car loader |
| CN116573436A (en) * | 2023-05-22 | 2023-08-11 | 知行机器人科技（苏州）有限公司 | An airport luggage automatic sorting and loading device and system |
| CN117509222A (en) * | 2023-11-24 | 2024-02-06 | 河南科技大学 | Automatic loading equipment and methods |
| CN117485892B (en) * | 2024-01-02 | 2024-03-15 | 河北卓著机械设备有限公司 | Intelligent efficient loading system |
| CN119038231B (en) * | 2024-11-04 | 2025-01-24 | 四川省巴蜀物流集团有限公司 | Automatic loading and unloading machine for automobile cargo |
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