CN117088133A - Omnidirectional self-guiding intelligent unstacking machine - Google Patents

Omnidirectional self-guiding intelligent unstacking machine Download PDF

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Publication number
CN117088133A
CN117088133A CN202311251154.3A CN202311251154A CN117088133A CN 117088133 A CN117088133 A CN 117088133A CN 202311251154 A CN202311251154 A CN 202311251154A CN 117088133 A CN117088133 A CN 117088133A
Authority
CN
China
Prior art keywords
rocker
bag
hinged
conveying mechanism
blades
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311251154.3A
Other languages
Chinese (zh)
Inventor
宋奎运
谷建斌
鲁斌豪
杨璐
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhongchu Hengke Internet Of Things System Co ltd
Original Assignee
Zhongchu Hengke Internet Of Things System Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhongchu Hengke Internet Of Things System Co ltd filed Critical Zhongchu Hengke Internet Of Things System Co ltd
Priority to CN202311251154.3A priority Critical patent/CN117088133A/en
Publication of CN117088133A publication Critical patent/CN117088133A/en
Pending legal-status Critical Current

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Classifications

    • 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
    • B65G59/00—De-stacking of articles
    • B65G59/02—De-stacking from the top of the stack
    • 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
    • B65G13/00—Roller-ways
    • B65G13/11—Roller frames
    • B65G13/12—Roller frames adjustable
    • 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
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
    • B65G41/003—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base mounted for linear movement only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Handcart (AREA)

Abstract

The invention discloses an omnidirectional self-guiding intelligent unstacking machine, which comprises a bag grabbing device, a telescopic conveying mechanism, a rocker mechanism, a traveling chassis and a traveling power system, wherein the traveling chassis is integrally welded and formed with the chassis, the bottom of the traveling chassis is provided with the traveling power system, the bag grabbing device is provided with a press-swing mechanism which is pressed down under the action of a pressing rod, and the bag can be rolled into a rear roller conveying section through 2 electric rollers with blades with opposite rotating directions, so that the omnidirectional self-guiding intelligent unstacking machine has a simple structure and can quickly and effectively grab and convey the bag; meanwhile, the unstacking machine uses the telescopic conveying system capable of swinging up and down and back, bags at different heights and different distances can be detached at fixed points, the moving time of the unstacking machine is shortened, and the working efficiency is improved.

Description

Omnidirectional self-guiding intelligent unstacking machine
Technical Field
The invention relates to automatic unstacking equipment, in particular to an omnidirectional self-guiding intelligent unstacking machine.
Background
In the material transferring and storing process, space utilization and convenient storage are considered, and most of bag materials in the current industry are stacked in a stack in a multi-layer mode, so that the material bag stacks are required to be unstacked during transferring or material taking. The existing unstacking equipment is mostly suitable for tray type movable stacks, and not only is a whole stack of materials and trays required to be jointly transported to the unstacking equipment to complete unstacking by matching with a transporting tool. On most warehouses or freight vehicles, the fixed stacks are directly stacked on the ground, and the pallet cannot move, so that the unstacking operation can be performed only by manpower, the labor intensity of workers is high, and the working environment is poor. Space constraints and feasibility are also a concern for the problem of transferring stacks of material that are fixedly stacked on a warehouse or a freight vehicle.
In addition, to the unstacking equipment of current non-tray formula, often need the manipulator to snatch and cooperate the conveyer belt again and accomplish the unstacking of bag package material, the manipulator often structure comparatively complicated, need set up alone, and clamping force is difficult to control, under the lower circumstances of clamping force, can lead to the unstable problem that drops with the wrapping bag of centre gripping, and if the blind setting if too big clamping force, damage bag package or the material in the bag package easily.
Therefore, we propose an omnidirectional self-guiding intelligent unstacker for solving the above problems.
Disclosure of Invention
Object of the invention
Aiming at the defects and shortcomings of the prior art, the invention provides an omnidirectional self-guiding intelligent unstacker.
(II) technical scheme
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the omnidirectional self-guiding intelligent unstacker is characterized by comprising a bag grabbing device, a telescopic conveying mechanism, a rocker mechanism, a walking chassis and a walking power system, wherein the walking chassis is integrally welded and formed into the chassis, the bottom of the walking chassis is provided with the walking power system, the walking power system comprises a steering wheel and a guide wheel, a steering wheel is respectively arranged on one diagonal corner of the chassis, and a universal wheel is respectively arranged on the other diagonal corner of the chassis;
the rocker mechanism comprises a pitching rocker, a front rocker, a rear rocker, a rotary support, a rocker mounting bottom plate and a pinion, the rotary support is arranged on the walking chassis, an inner ring of the rotary support is connected with the walking chassis, the rocker mounting bottom plate is connected with an outer ring of the rotary support through a bolt, the front part of the mounting bottom plate is hinged with the pitching rocker, the rear part of the mounting bottom plate is hinged with the front rocker and the rear rocker, and the pinion is used for driving the outer ring of the rotary support to rotate, so that the rocker mounting bottom plate and fixed parts on the rocker mounting bottom plate are driven to rotate; a gas spring supporting system is arranged between the walking chassis and the telescopic conveying mechanism;
the telescopic conveying mechanism comprises a telescopic conveying mechanism main body, a transmission belt is arranged on the inner side of the telescopic conveying mechanism main body, a U-shaped truss is fixed on the telescopic conveying mechanism main body, one end of a telescopic rod is fixed at the front end of the U-shaped truss, the other end of the telescopic rod is fixed with the bag grabbing device, and a guide rail is arranged on the outer side wall of the front part of the telescopic conveying mechanism main body;
the bag grabbing device comprises a bracket, an electric roller with blades, a telescopic compression bar, a swing frame and guide wheels, wherein the guide wheels are arranged at the bottoms of the two sides of the bracket and are matched with guide rails on the telescopic conveying mechanism main body, and the guide wheels are clamped on the guide rails to play a role in guiding; a supporting frame is fixed at the rear end of the bracket, an electric roller with blades is arranged at the inner side of the front end of the bracket, and a plurality of blades extend along the axial direction of the electric roller; the electric roller with the blades is arranged on the inner side of the support, a plurality of prismatic rollers parallel to the electric roller with the blades are arranged at the rear of the electric roller with the blades, one end of the swing frame is hinged to the front of the support, the electric roller with the blades is arranged on the inner side of the other end of the swing frame, the rotation directions of the two electric rollers with the blades are opposite, one end of the pressure lever is hinged to the supporting frame, the other end of the pressure lever is hinged to the swing frame, and the pressure lever can stretch and retract and is used for controlling the stretching angle of the swing frame and the clamping force F between the two electric rollers with the blades.
Further, the clamping force F at the initial stage of clamping the bag 0 The method comprises the following steps: f (F) 0 ＝k 1 *G+k 2 *G*A 1/2 C, wherein G is the weight of the individual bag material, k 1 Is the coefficient related to the friction coefficient of the bag material, k 2 Is a coefficient related to the gravitational moment, A is the cross-sectional area of the bag and C is the perimeter of the bag.
Further, the pitching rocker comprises a straight rod I and a curved rod, one end of the curved rod is hinged with the rocker mounting bottom plate through a hinge seat, the other end of the curved rod is hinged with one end of the straight rod I, and the other end of the straight rod I is hinged with the telescopic conveying mechanism.
Further, the front rocker and the rear rocker comprise a second straight rod, a connecting rod and a crank connecting rod, one end of the second straight rod is hinged with the rocker mounting bottom plate through a hinging seat, the other end of the second straight rod is hinged with the telescopic conveying mechanism, one end of the crank connecting rod is hinged with the rocker mounting bottom plate through a hinging seat, the other end of the crank connecting rod is hinged with one end of the connecting rod, and the other end of the connecting rod is hinged with the middle part of the second straight rod.
Further, the blade is provided with at least three.
Further, the blades are uniformly distributed along the circumferential direction of the surface of the electric roller body.
Further, during the transport of the pack, the clamping force F maintains F 0 Is unchanged.
Further, the clamping force F is set to be the force F from the process of rolling in the single bag 0 Gradually decreasing.
Further, the automatic bag grabbing device further comprises a control mechanism, wherein the control mechanism is electrically connected with the bag grabbing device, the telescopic conveying mechanism, the rocker mechanism and the driving mechanism of the walking power system.
(III) technical effects
Compared with the prior art, the invention has the following beneficial and remarkable technical effects:
1. the bag gripping device is reasonable in structure and simple to operate, can be approximately seen as a roller conveying mechanism, and the rollers at the front end of the bracket and on the pressing and swinging mechanism are provided with blades, so that the bag gripping device can better grip bagged materials through the extension of the blades; the pressing and swinging mechanism can press downwards under the action of the pressing rod, and the bag can be wound into the rear roller conveying line by the upper and lower 2 electric rollers with blades, which rotate in opposite directions, so that the bag gripping and conveying device is simple in structure and can rapidly and effectively grasp and convey the bag; the conveying section of the bag grabbing device adopts a prismatic roller, and the edges of the prismatic roller can provide additional pushing force for materials, so that the bag can be more effectively conveyed.
2. The unstacking machine uses the telescopic conveying system which can swing up and down and back and forth, can be used for fixed-point unstacking of bags at different heights and distances, reduces the moving time of the unstacking machine and improves the working efficiency; the unstacking machine is reliable in unstacking, flexible in movement and good in adaptability, is suitable for the transportation of bag cargoes in a storehouse and can also be used for the bag unloading of a carriage. The walking chassis adopts a form of diagonally arranging double steering wheels and double universal wheels, has simple mechanical structure and large bearing and traction force, and can realize self-guiding and adapt to various running environments and complex road conditions.
3. The clamping force of the bag grabbing device, especially the clamping force of the initial stage of clamping the bag, is accurately limited, so that the problems that the clamping is unstable and the packaging bag falls off when the clamping force is low and the problem that the bag or materials in the bag are damaged when the clamping force is overlarge are avoided.
Drawings
Fig. 1 is a schematic diagram of the overall layout of an omni-directional self-guiding intelligent unstacker;
fig. 2 is a side view of the general layout of the omni-directional self-guiding intelligent unstacker
FIG. 3 is a schematic view of the rocker mechanism;
FIG. 4 is a schematic view of the structure of the bag gripping apparatus;
FIG. 5 is a schematic diagram of the corresponding working state of the unstacker when the stacking height of the bags is high;
fig. 6 is a schematic diagram of the corresponding working state of the unstacker when the stacking height of the bags is low.
Detailed Description
For a better understanding of the present invention, the following examples are set forth to illustrate the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention. The following describes the structure and technical scheme of the present invention in detail with reference to the accompanying drawings, and an embodiment of the present invention is given.
As shown in fig. 1-2, the omnidirectional self-guiding intelligent unstacking machine comprises a bag grabbing device 1, a telescopic conveying mechanism 2, a rocker mechanism 3, a walking chassis 4 and a walking power system 5, wherein the walking chassis 4 is integrally welded and formed into a chassis, the bottom of the walking chassis 4 is provided with the walking power system 5, the walking power system 5 comprises steering wheels and guide wheels, one steering wheel is respectively arranged on one diagonal corner of the chassis, one universal wheel is respectively arranged on the other diagonal corner of the chassis, the chassis is driven by two steering wheels, the two universal wheels are used for supporting, the mechanical structure is simple, the bearing and the traction force are large, the steering wheels can realize self-guiding and steering, timely deviation correction, the walking chassis adopts the form of diagonal arrangement of the two steering wheels and the two universal wheels, and can adapt to various running environments and complex road conditions, and realize the functions of starting and stopping, advancing, retreating, in-situ steering, transverse running and running in any direction in a two-dimensional plane.
The rocker mechanism 2 is a link mechanism for connecting the walking chassis and the telescopic conveying mechanism, the structure of the rocker mechanism is shown in figure 3, the rocker mechanism comprises a pitching rocker 31, a front rocker 32, a rear rocker 32, a rotary support 33, a rocker mounting bottom plate 34 and a pinion 35, the rotary support 33 is arranged on the walking chassis 4, an inner ring of the rotary support is connected with the walking chassis, the rocker mounting bottom plate 34 is connected with an outer ring of the rotary support through a bolt, the pitching rocker 31 is hinged at the front part of the mounting bottom plate 34, the front rocker 32 and the rear rocker 32 are hinged at the rear part of the mounting bottom plate 34, and the pinion 35 is used for driving the outer ring of the rotary support to rotate, so that the rocker mounting bottom plate and parts fixed on the rocker mounting bottom plate are driven to rotate; a gas spring support system 6 is also arranged between the walking chassis and the telescopic conveying mechanism.
Specifically, the pitching rocker 31 includes a straight rod 311 and a curved rod 312, one end of the curved rod 312 is hinged with the rocker mounting bottom plate 34 through a hinge seat, the other end of the curved rod 312 is hinged with one end of the straight rod 311, and the other end of the straight rod 311 is hinged with the telescopic conveying mechanism 2; the front rocker 32 and the rear rocker 32 comprise a second straight rod 321, a connecting rod 322 and a crank connecting rod 323, one end of the second straight rod 321 is hinged with the rocker mounting bottom plate 34 through a hinging seat, the other end of the second straight rod 321 is hinged with the telescopic conveying mechanism 2, one end of the crank connecting rod 323 is hinged with the rocker mounting bottom plate 34 through a hinging seat, the other end of the crank connecting rod 323 is hinged with one end of the connecting rod 322, and the other end of the connecting rod 322 is hinged with the middle part of the second straight rod 321. The walking chassis is connected with the telescopic conveying mechanism through the rocker mechanism, and can swing up and down and back and forth under the assistance of the gas spring supporting system. The telescopic conveying mechanism can also adjust the angle by means of the rotation action of the rotation support.
The telescopic conveying mechanism 2 is an intermediate mechanism for connecting the rocker mechanism and the bag grabbing device, and the lower part of the telescopic conveying mechanism is connected with the rocker mechanism, so that the telescopic conveying mechanism can swing up and down and back and forth. The telescopic conveying mechanism can also adjust the angle left and right by means of the rotation action of the rotation support. The telescopic conveying mechanism 2 comprises a telescopic conveying mechanism main body 21, a transmission belt is arranged on the inner side of the telescopic conveying mechanism main body 21, a U-shaped truss 22 is fixed on the telescopic conveying mechanism main body 21, one end of a telescopic rod 23 is fixed at the front end of the U-shaped truss 22, the other end of the telescopic rod 23 is fixed with the bag grabbing device 1, a guide rail is arranged on the outer side wall of the front portion of the telescopic conveying mechanism main body 21, the telescopic rod drives the bag grabbing device 1 to extend and retract, telescopic conveying is achieved, the length of equipment in a non-working state is reduced, the requirements on working and running space are reduced, and the adaptability of the equipment to space is improved. The telescopic conveying mechanism is added on the basis of the belt conveyor, so that the conveyor can freely stretch and retract in the length direction, and the length can be adjusted.
As shown in fig. 4, the bag gripping device 1 includes a bracket 11, a motorized roller 12 with blades, a retractable pressure lever 13, a swing frame 14, and a guide wheel 15. The bag grabbing device is integrally arranged on the secondary conveying of the telescopic conveying mechanism, can move in the length direction of the telescopic conveying mechanism, and the guide wheels 15 are arranged at the bottoms of the two sides of the bracket 11 and are matched with guide rails on the telescopic conveying mechanism main body 21, and are clamped on the guide rails to play a role in guiding; a supporting frame 16 is fixed at the rear end of the bracket 11, an electric roller 12 with blades is arranged at the inner side of the front end of the bracket 11, a plurality of the blades extend along the axial direction of the electric roller, the blades are uniformly distributed along the circumferential direction of the surface of the electric roller 12 body, and the number of the blades is more than two, preferably more than 3; a plurality of prismatic rollers 17 parallel to the bladed rollers 12 are arranged on the inner side of the bracket 11 and behind the bladed rollers 12, one end of the swing frame 14 is hinged to the front part of the bracket 11, the inner side of the other end of the swing frame 14 is provided with a bladed electric roller 12, the rotation directions of the two bladed electric rollers 12 are opposite, one end of the pressure rod 13 is hinged to the supporting frame 16, the other end of the pressure rod 13 is hinged to the swing frame 14, and the pressure rod 13 is used for controlling the opening angle of the swing frame 14 and the clamping force between the two bladed electric rollers 12. The whole movement of the bag grabbing device adopts a mode that a guide wheel and a push rod are combined, and a guide rail of the guide wheel and the push rod are fixed on a support of the telescopic conveying mechanism. The bag grabbing device can be approximately seen as a roller conveying mechanism, and particularly, the front end of the bracket and the rollers on the pressing and swinging mechanism are provided with blades, so that the bag grabbing device can better clamp the bagged materials through the extension of the blades; when the pressing and swinging mechanism is pressed down under the action of the pressing rod, the upper and lower 2 electric rollers with blades with opposite rotation directions can roll the bag into the rear roller conveying section; the conveying section of the bag grabbing device adopts the prismatic roller, and the edges of the prismatic roller can provide additional thrust for materials, so that the bag can be more effectively conveyed.
In the initial stage of clamping the bag by the electric roller of the bag grabbing device, as only one edge is subjected to clamping force, enough stable support cannot be provided, and under the condition of low clamping force, the problems of unstable clamping and falling of the packaging bag can be caused, and under the condition, the bag is prevented from sliding off by improving the clamping force in the initial stage of clamping; if the clamping force is too large if blindly setThe bag or the material in the bag is easily damaged, so that the clamping force of the bag gripping device, especially the clamping force in the initial stage of clamping the bag, needs to be accurately limited. The clamping force F at the initial stage of clamping the bag is specifically as follows: f=k 1 *G+k 2 *G*A 1/2 C, wherein G is the weight of the individual bag material, k 1 、k 2 Is the coefficient of the corresponding term, where k 1 Is the coefficient related to the friction coefficient of the bag material, k 2 Is a coefficient related to the gravitational moment, A is the cross-sectional area of the bag and C is the perimeter of the bag. For the initial stage of clamping the bags, the forces to be overcome mainly include the friction force between the bags and the gravity of the bags themselves, and for the above formula of the clamping force F, the first term in the formula is k 1 * G, acting force required for overcoming friction force between bags; the second term in the formula, k 2 *G*A 1/2 To overcome the force required by the gravity of the bag itself, the horizontal cross section of the existing bag is usually rectangular or approximately rectangular, while to facilitate the clamping and reduce the corresponding clamping force, the long side direction of the rectangle is often chosen for clamping, so that when the edges of the bag are clamped, the cross section shape is more square and the moment of the corresponding gravity is larger under the conditions of the same surface area and the same weight, wherein A 1/2 and/C can characterize the extent to which the cross-sectional shape is approximately square. For regular loading of carriages and the like, the specification of bagged materials is always uniform, the weight of each bagged material, the material of a packaging bag and the like are relatively consistent, corresponding numerical values can be input into a control mechanism before the operation starts, and the control mechanism calculates F through a formula 0 Then the pressure lever is controlled to output corresponding downward pressure to provide clamping force F 0 The method comprises the steps of carrying out a first treatment on the surface of the If the bags are not uniform, the parameter deviation of each bag is not too great, and the parameters of the bags with relatively large weight, area, surface roughness and the like are input as reference values, so that frequent operation can be avoided.
Since the bag is continuously wound into the bag gripping device by the two electric rollers, the bag is subjected to the frictional force and gravity outside the deviceThe smaller the clamping force F can be from F during the rolling-in of the single bag 0 Gradually reducing; of course, for ease of handling, the clamping force F may also be maintained F during transport of the bag 0 Is unchanged.
The omnidirectional self-guiding intelligent unstacker also comprises a control mechanism, wherein the control mechanism is electrically connected with the bag grabbing device, the telescopic conveying mechanism, the rocker mechanism and the driving mechanism of the walking power system, and the control mechanism is used for controlling the operation of the mechanisms.
The object of the present invention is fully effectively achieved by the above-described embodiments. Those skilled in the art will appreciate that the present invention includes, but is not limited to, those illustrated in the drawings and described in the foregoing detailed description. While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiment, but on the contrary, is intended to cover various modifications and equivalent arrangements included within the scope of the appended claims.

Claims (8)

1. The omnidirectional self-guiding intelligent unstacker is characterized by comprising a bag grabbing device, a telescopic conveying mechanism, a rocker mechanism, a walking chassis and a walking power system, wherein the walking chassis is integrally welded and formed into the chassis, the bottom of the walking chassis is provided with the walking power system, the walking power system comprises a steering wheel and a guide wheel, a steering wheel is respectively arranged on one diagonal corner of the chassis, and a universal wheel is respectively arranged on the other diagonal corner of the chassis;
the rocker mechanism comprises a pitching rocker, a front rocker, a rear rocker, a rotary support, a rocker mounting bottom plate and a pinion, the rotary support is arranged on the walking chassis, an inner ring of the rotary support is connected with the walking chassis, the rocker mounting bottom plate is connected with an outer ring of the rotary support through a bolt, the front part of the mounting bottom plate is hinged with the pitching rocker, the rear part of the mounting bottom plate is hinged with the front rocker and the rear rocker, and the pinion is used for driving the outer ring of the rotary support to rotate, so that the rocker mounting bottom plate and fixed parts on the rocker mounting bottom plate are driven to rotate; a gas spring supporting system is arranged between the walking chassis and the telescopic conveying mechanism;
the telescopic conveying mechanism comprises a telescopic conveying mechanism main body, a transmission belt is arranged on the inner side of the telescopic conveying mechanism main body, a U-shaped truss is fixed on the telescopic conveying mechanism main body, one end of a telescopic rod is fixed at the front end of the U-shaped truss, the other end of the telescopic rod is fixed with the bag grabbing device, and a guide rail is arranged on the outer side wall of the front part of the telescopic conveying mechanism main body;
the bag grabbing device comprises a bracket, an electric roller with blades, a telescopic compression bar, a swing frame and guide wheels, wherein the guide wheels are arranged at the bottoms of the two sides of the bracket and are matched with guide rails on the telescopic conveying mechanism main body, and the guide wheels are clamped on the guide rails to play a role in guiding; a supporting frame is fixed at the rear end of the bracket, an electric roller with blades is arranged at the inner side of the front end of the bracket, and a plurality of blades extend along the axial direction of the electric roller; a plurality of prismatic rollers parallel to the electric rollers with blades are arranged at the rear of the electric rollers with blades on the inner side of the bracket, one end of the swing frame is hinged with the front part of the bracket, the electric rollers with blades are arranged on the inner side of the other end of the swing frame, the rotation directions of the two electric rollers with blades are opposite, one end of the pressure lever is hinged with the supporting frame, the other end of the pressure lever is hinged with the swing frame, the pressure lever can stretch and retract, the opening angle of the swing frame and the clamping force F between the two electric rollers with blades are controlled, and the clamping force F at the initial stage of the bag clamping is used for controlling 0 The method comprises the following steps: f (F) 0 ＝k 1 *G+k 2 *G*A 1/2 C, wherein G is the weight of the individual bag material, k 1 Is the coefficient related to the friction coefficient of the bag material, k 2 Is a coefficient related to the gravitational moment, A is the cross-sectional area of the bag and C is the perimeter of the bag.
2. The omni-directional self-guiding intelligent unstacker according to claim 1, wherein the pitching rocker comprises a straight rod I and a curved rod, one end of the curved rod is hinged with the rocker mounting base plate through a hinge seat, the other end of the curved rod is hinged with one end of the straight rod I, and the other end of the straight rod I is hinged with the telescopic conveying mechanism.
3. The omnidirectional self-guiding intelligent unstacker according to claim 1, wherein the front rocker and the rear rocker comprise a second straight rod, a connecting rod and a crank connecting rod, one end of the second straight rod is hinged with the rocker mounting base plate through a hinge seat, the other end of the second straight rod is hinged with the telescopic conveying mechanism, one end of the crank connecting rod is hinged with the rocker mounting base plate through the hinge seat, the other end of the crank connecting rod is hinged with one end of the connecting rod, and the other end of the connecting rod is hinged with the middle part of the second straight rod.
4. The omni-directional self-guiding intelligent unstacker according to claim 1 wherein said blades are provided with at least three.
5. The omni-directional self-guiding intelligent unstacker according to claim 4, wherein the blades are uniformly distributed along the circumference of the surface of the electric roller body.
6. The omnidirection self-guiding intelligent unstacking machine according to claim 1, wherein during bag transport, the clamping force F keeps F 0 Is unchanged.
7. The omnidirectionally self-guided intelligent unstacking machine according to claim 1, wherein the clamping force F is set to be the force F from the process of rolling in the single bag 0 Gradually decreasing.
8. The omni-directional self-guiding intelligent unstacker according to claim 1, further comprising a control mechanism, wherein the control mechanism is electrically connected with the bag grabbing device, the telescopic conveying mechanism, the rocker mechanism and the driving mechanism of the walking power system.
CN202311251154.3A 2023-09-26 2023-09-26 Omnidirectional self-guiding intelligent unstacking machine Pending CN117088133A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311251154.3A CN117088133A (en) 2023-09-26 2023-09-26 Omnidirectional self-guiding intelligent unstacking machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311251154.3A CN117088133A (en) 2023-09-26 2023-09-26 Omnidirectional self-guiding intelligent unstacking machine

Publications (1)

Publication Number Publication Date
CN117088133A true CN117088133A (en) 2023-11-21

Family

ID=88781802

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311251154.3A Pending CN117088133A (en) 2023-09-26 2023-09-26 Omnidirectional self-guiding intelligent unstacking machine

Country Status (1)

Country Link
CN (1) CN117088133A (en)

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