CN209922485U - Loading robot's sign indicating number material aircraft nose - Google Patents

Abstract

The utility model discloses a stacking machine head of a loading robot, which comprises a cross sliding table structure moving along the X-axis direction and/or the Y-axis direction and a stacking hopper connected with the cross sliding table structure; the cross sliding table structure comprises a cross beam arranged along an X axis, a longitudinal beam arranged along a Y axis and linearly moving along the length direction of the cross beam, and a driving assembly used for driving the longitudinal beam to move on the cross beam along the X axis direction and/or the Y axis direction, wherein a stacking hopper is connected with one end of the longitudinal beam; a hopper rotation driving mechanism used for driving the stacking hopper to rotate is further arranged between the stacking hopper and the longitudinal beam. The utility model can effectively avoid the damage to the bagged material bag during the unloading process; the placing direction of the bagged material bag in the hopper can be effectively adjusted, and the packaging space of the packaging equipment is effectively utilized; can place the position to the bagged materials package in the yard material hopper through the direction correction mechanism and correct, avoid placing the extravagant problem of placing the space in back.

Description

Loading robot's sign indicating number material aircraft nose

Technical Field

The utility model relates to a bagging-off material package loading robot technical field, specific saying so, a loading robot's sign indicating number material aircraft nose.

Background

The current flow of solid materials is divided into two forms: bulk and bagged. The form of bulk is widely applied in developed countries, and is mainly applied to solid materials with better circulation, so that a large amount of packaging cost and labor cost for loading and unloading can be saved, and time, labor and money are saved. The defect is that the method has strong limitation and must be suitable for materials with strong circulation. Meanwhile, the requirements for land transportation are higher, the land transportation needs to be carried out by van vehicles or containers, and equipment for loading and unloading bulk goods needs to be provided.

The bag packaging mode is flexible, and the loading, unloading and transportation are convenient. The disadvantage is that a large amount of packaging cost and labor cost for loading and unloading are consumed. Foreign labor cost is high, so bagged goods are mostly transported by adopting a tray, materials are stacked on the tray by using a stacking machine and then are loaded and unloaded by using loading and unloading equipment such as a forklift. The biggest disadvantage of pallet loading and transportation is that the product cost is added together with the pallet when the product is sold, which increases the product cost. The tray loading and transporting device is only adopted in developed countries with higher labor cost or thick, unwieldy and scarce labor force, and the application of the tray loading and transporting in China is less.

With the rapid development of the economy of China and the improvement of the living standard of people, the phenomenon of labor shortage gradually appears in China in recent years, and particularly, the shortage of thick and unwieldy labor is more serious. The original condition of loading by manpower is gradually replaced by loading and unloading machinery, the loading and unloading operation in China is developed to the present, most products are stacked on a tray, and the products are unloaded from the tray and loaded when sold. Although the mode still consumes a large amount of manpower, compared with the traditional full-manual loading, the mode saves much time and labor, and also saves much cost compared with the situation that developed countries sell pallets together. Therefore, in the current conditional enterprises in China, the method is gradually adopted: products are stacked on the tray, the forklift is stacked in the warehouse, and the products are unloaded from the tray.

In the field of loading bagged goods, the mode of a conveyor is adopted for the vast majority in China at present: and manually unloading the products from the tray or the material pushing trolley, putting the products into a conveyor to be conveyed to the carriage, and putting the products conveyed by the conveyor into the carriage by the worker at the other end of the conveyor.

At present, domestic conveyors comprise: mobile conveyors, telescopic conveyors, van conveyors, etc. However, any conveyor is only convenient to move manually, cannot finish automatic loading, and needs to be manually connected with the other end of the conveyor for placing. A carloader with high manufacturing cost appears in the cement industry, but the carloader is a movable conveyor actually, the conveyor is only hung on a vehicle and is convenient to move up and down and back and forth, the operation and the placement are further performed in the aspect of loading compared with a common conveyor, the automation of loading cannot be completed due to the fact that the conveyor needs to be operated and placed manually, meanwhile, the carloader is manually loaded by means of conveying equipment, and due to the fact that the carloader cannot be accurately placed when the carloader is placed, the phenomenon that bagged goods packages are overlapped with one another is easily caused, and certain difficulty is caused for unloading.

When equipment among the prior art is carrying out bagged materials packing and transports bagged material package receiving equipment, the unable vertical motion of equipment among the prior art and with the steady placing of bagged material package in bagged material package receiving equipment cause the raise dust to have four things, can appear because highly too high damaged problem of bagged material package appears even in the packing in-process.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a stacking machine head of a loading robot, which can effectively avoid the occurrence of damage to a bagged material bag in the unloading process; can effectually adjust the orientation of placing of the bagged material package in the hopper, the packing space of effectual utilization packing equipment, work efficiency is high.

The utility model discloses a following technical scheme realizes:

a stacking machine head of a loading robot comprises a cross sliding table structure moving along the X-axis direction and/or the Y-axis direction and a stacking hopper connected with the cross sliding table structure; the cross sliding table structure comprises a cross beam arranged along an X axis, a longitudinal beam arranged along a Y axis and linearly moving along the length direction of the cross beam, and a driving assembly used for driving the longitudinal beam to move on the cross beam along the X axis direction and/or the Y axis direction, wherein the stacking hopper is connected with one end of the longitudinal beam; and a hopper rotation driving mechanism used for driving the stacking hopper to rotate is further arranged between the stacking hopper and the longitudinal beam.

Further, for better realization the utility model discloses, the drive assembly is including setting up the slide subassembly between crossbeam and longeron, installing on the slide subassembly and along the X axle actuating mechanism that the long direction linear motion of crossbeam is connected, install on the slide subassembly and along the long direction linear motion's of longeron Y axle actuating mechanism.

Further, for better realization the utility model discloses, X axle actuating mechanism is including installing the X axle rack that is close to slide subassembly one side and sets up along the crossbeam long direction at the crossbeam, with X axle rack meshing's X gear, be used for driving X gear revolve and install the X axle driving motor on the slide subassembly, with X axle rack homonymy and along the X slide rail of crossbeam long direction symmetry setting, with install the X pulley that the slide subassembly is close to crossbeam one side and uses rather than one X slide rail cooperation and install on the slide subassembly with the cooperation of another X slide rail tightly hold the mechanism.

Further, for better realization the utility model discloses, hold mechanism including install on the slide subassembly keep away from the crossbeam one side embrace press from both sides, rotate install and embrace the eccentric shaft that presss from both sides, keep away from with the eccentric shaft and embrace the coaxial setting of clamp one end and rotate the X of being connected and hold the pulley tightly.

Further, for better realization the utility model discloses, Y axle actuating mechanism is including installing the Y axle rack that is close to slide subassembly one side and sets up along the longeron length direction at the longeron, with Y axle rack meshing's Y gear, be used for driving Y gear revolve and install the Y axle driving motor on slide subassembly, with Y axle rack homonymy and along the Y slide rail that longeron length direction symmetry set up and with install the slide subassembly be close to longeron one side and with the Y pulley that the cooperation of Y slide rail used.

Furthermore, in order to better realize the utility model, the stacking hopper comprises two side plates, a connecting plate arranged between the two side plates, a bottom plate rotationally connected with the side plates, a bottom plate driving mechanism used for driving the bottom plate to open or close relative to the side plates and installed on the side plates, and a hopper installation frame arranged on one side of the side plates far away from the bottom plate and used for installing a hopper rotation driving mechanism; and the two side plates, the connecting plate and the bottom plate form a bin for receiving a bagged material packet. One side of the hopper mounting frame, which is far away from the bottom plate, is connected with the longitudinal beam.

Further, for better realization the utility model discloses, hopper rotary drive mechanism includes that fixed mounting keeps away from the C of bottom plate one side from the gear at the hopper mounting bracket, follow gear engagement's C master gear and be used for driving C master gear pivoted rotary drive motor with C, rotary drive motor's output shaft and C master gear are coaxial and interconnect.

Further, for better realization the utility model discloses, still install the direction on the hopper mounting bracket and correct the mechanism, the direction is corrected the mechanism and is included installing the wobble plate in the feed bin, be used for driving the wobble plate to dial the material and install the pendulum material driving motor who keeps away from bottom plate one side at the wobble plate, pendulum material driving motor installs one side that the hopper mounting bracket was kept away from to c from the gear, pendulum material driving motor's output shaft is coaxial from the gear with c, pendulum material driving motor's output shaft passes c and is connected from one side that the gear is close to the connecting plate with the wobble plate.

Furthermore, in order to better realize the utility model, the bottom plate comprises a bottom plate body and a bottom plate rotating shaft which is connected with the bottom plate body and is rotatably arranged at one side of the two side plates which are close to each other; the bottom plate driving mechanism comprises a transmission chain wheel and chain assembly and a chain wheel and chain driving device, wherein the transmission chain wheel and chain assembly is arranged on the side plate and connected with the rotating shaft of the bottom plate; the transmission chain wheel and chain assembly comprises a driven chain wheel, a chain and a driving chain wheel, wherein the driven chain wheel and the chain are coaxially arranged with the rotating shaft of the bottom plate and are connected with each other; the driven chain wheel and the driving chain wheel are respectively meshed with the chain.

Furthermore, in order to better realize the utility model, the bottom plate comprises a bottom plate body and a bottom plate rotating shaft which is connected with the bottom plate body and is rotatably arranged at one side of the two side plates which are close to each other; the bottom plate driving mechanism comprises a connecting rod mechanism and a connecting rod mechanism driving device, wherein one end of the connecting rod mechanism is arranged on the side plate, and the other end of the connecting rod mechanism is connected with the bottom plate; the connecting rod mechanism comprises an ear plate pin shaft arranged on the side plate, a joint bearing hinged with the ear plate pin shaft, a connecting rod connected with one end of the joint bearing far away from the ear plate bearing, and a connecting shaft respectively connected with the connecting rod and the bottom plate.

Compared with the prior art, the utility model, following advantage and beneficial effect have:

(1) the utility model can effectively avoid the damage to the bagged material bag during the unloading process;

(2) the utility model can effectively adjust the placing direction of the bagged material bag in the hopper, and effectively utilize the packaging space of the packaging equipment;

(3) the utility model can correct the placing position of the bagged material bag in the stacking hopper through the guiding and correcting mechanism, thereby avoiding the problem of wasting placing space after placing;

(4) the utility model discloses work efficiency is high, effectual reduce cost.

Drawings

Fig. 1 is an elevation view of the present invention;

fig. 2 is a three-dimensional view of the present invention;

fig. 3 is a schematic view of the connection between the middle longitudinal beam and the stacking hopper of the present invention;

fig. 4 is a three-dimensional view of the material stacking hopper of the present invention;

fig. 5 is a schematic top view of the material stacking hopper of the present invention employing a transmission sprocket chain assembly;

FIG. 6 is a schematic structural view of the middle transmission sprocket chain assembly of the present invention

FIG. 7 is a schematic view of a top view of the stacking hopper of the present invention with a link mechanism;

fig. 8 is a schematic structural diagram of the middle link mechanism of the present invention;

fig. 9 is a schematic sectional structure view of the middle clasping mechanism of the present invention;

wherein 1-stacking hopper, 11-side plate, 12-connecting plate, 13-bottom plate, 131-bottom plate driving mechanism, 132-bottom plate rotating shaft, 1311-driving sprocket chain component, 13111-driving sprocket, 13112-chain, 13113-driven sprocket, 13114-sprocket tensioning mechanism, 1312-sprocket chain driving device, 13121-A master gear, 13122-a slave gear, 13123-sprocket chain driving motor, 1313-link mechanism, 13131-lug plate pin shaft, 13132-knuckle bearing, 13133-connecting rod, 13134-connecting shaft, 1314-link mechanism driving device, 13141-B master gear, 13142-B slave gear, 13143-link mechanism driving motor, 14-swinging plate, 141-swinging material driving motor, 151-rotation driving motor, 152-C main gear, 153-C slave gear, 2-cross sliding table structure, 21-crossbeam, 211-X sliding groove, 212-X drag chain, 213-X sliding rail, 2131-X direction limiting block, 214-X pulley, 215-X axis rack, 216-clasping mechanism, 2161-eccentric shaft, 2162-clasping clamp, 2163-X rotating shaft, 2164-X clasping pulley, 217-X axis driving motor, 2171-X gear, 22-longitudinal beam, 221-Y sliding groove, 222-Y drag chain, 223-Y sliding rail, 2231-Y direction limiting block, 224-Y pulley, 225-Y axis rack, 227-Y axis driving motor, 23-drag chain connecting rod and 24-sliding plate component.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The present invention will be described in further detail with reference to examples, but the present invention is not limited thereto.

Example 1:

the utility model is realized by the following technical proposal, as shown in figures 1-9, a stacking machine head of a loading robot comprises a cross sliding table structure 2 moving along the X-axis direction and/or the Y-axis direction and a stacking hopper 1 connected with the cross sliding table structure; the cross sliding table structure 2 comprises a cross beam 21 arranged along an X axis, a longitudinal beam 22 arranged along a Y axis and linearly moving along the long direction of the cross beam 21, and a driving assembly for driving the longitudinal beam 22 to move on the cross beam 21 along the X axis direction and/or the Y axis direction, and the stacking hopper 1 is connected with one end of the longitudinal beam 22; a hopper rotation driving mechanism used for driving the stacking hopper 1 to rotate is further arranged between the stacking hopper 1 and the longitudinal beam 22.

The improvement is that after the bagged material bag receiving equipment stops under the stacking hopper 1, the bag stopping and subpackaging mechanism connected with the stacking head 1 conveys the bagged material bags into the stacking hopper 1, an operator can adjust the distance between the stacking hopper 1 and the box body of the bagged material bag receiving equipment according to the height of the bottom of the stacking hopper 1 and the box body of the bagged material bag receiving equipment according to the placing requirement, when the height meets the placing requirement, the distance between the stacking hopper 1 and the box body of the bagged material bag receiving equipment is adjusted through the driving assembly, so that the bagged material bags can be placed in the box body lightly, the bagged material bags are placed lightly, dust cannot be raised, the packaging bags of the bagged material bags cannot be damaged, and the occurrence of bad and bad packaging conditions is effectively avoided;

in the in-service use process, bagged material package receiving equipment generally is cargo truck, its box is great, in order to make bagged material package can fill the box, longeron 22 and crossbeam 21 relative slip, and sign indicating number material hopper 1 be connected with longeron 22 through the drive assembly drive after reaching horizontal assigned position, stop the X axle direction and remove, then carry out the removal of Y axle direction again, reach the position and put things in good order the box through sign indicating number material hopper 1 bagged material package in with sign indicating number material hopper 1, thereby the effectual automatic shipment that has realized.

However, when the bag stopping and subpackaging mechanism conveys the bagged material bags to the stacking hopper 1, the transverse and vertical placing directions of the bagged material bags conveyed to the stacking hopper 1 are often not satisfactory, and if the bagged material bags which do not meet the placing requirements are placed in the box, the waste of the box space is inevitably caused, so that the transportation cost is increased; in order to avoid prior art, the waste that causes the interior loading space of box, be provided with between longeron 22 and sign indicating number material hopper 1 and be used for driving sign indicating number material hopper 1 and rotate for the bagged material package in the sign indicating number material hopper 1 is unanimous with the bagged material package of pile up neatly in the box place the direction, and when the direction was unanimous, sign indicating number material hopper 1 was opened and can be piled up neatly according to the requirement with the bagged material package of loading in it.

Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.

Example 2:

the present embodiment is further optimized based on the above-mentioned embodiments, as shown in fig. 1-3, the driving assembly includes a sliding plate assembly 24 disposed between the cross beam 21 and the longitudinal beam 22, an X-axis driving mechanism mounted on the sliding plate assembly 24 and linearly connected along the length direction of the cross beam 21, and a Y-axis driving mechanism mounted on the sliding plate assembly 24 and linearly moved along the length direction of the longitudinal beam 22.

The X-axis driving mechanism comprises an X-axis rack 215 which is arranged on one side of the cross beam 21 close to the sliding plate assembly 24 and is arranged along the length direction of the cross beam 21, an X gear 2171 which is meshed with the X-axis rack 215, an X-axis driving motor 217 which is used for driving the X gear 2171 to rotate and is arranged on the sliding plate assembly 24, X sliding rails 213 which are arranged on the same side of the X-axis rack 215 and are symmetrically arranged along the length direction of the cross beam 21, and an X pulley 214 which is arranged on one side of the sliding plate assembly 24 close to the cross beam 21 and is matched with the.

When the material stacking hopper 1 needs to move transversely in the box, an operator controls the X-axis driving motor 217 to rotate, an output shaft of the X-axis driving motor 217 drives the X gear 2171 to rotate, and the X gear 2171 is meshed with the X-axis rack 215 which is fixedly installed on one side of the cross beam close to the sliding assembly 24, so that the sliding assembly 24, the longitudinal beam 22 and the Y-axis driving mechanism move along the X-axis rack 215 under the meshing condition of the X-axis rack 215 and the X gear, and the material stacking hopper 1 moves transversely, so that the bagged material packages can be stacked in the same layer of space of the box at the same height.

The Y-axis driving mechanism comprises a Y-axis rack 225, a Y gear, a Y-axis driving motor 227, Y sliding rails 223 and Y pulleys 224, wherein the Y-axis rack 225 is installed on one side, close to the sliding plate assembly 24, of the longitudinal beam 22 and is arranged along the length direction of the longitudinal beam 22, the Y gear is meshed with the Y-axis rack 225, the Y-axis driving motor 227 is used for driving the Y gear to rotate and is installed on the sliding plate assembly 24, the Y sliding rails 223 are arranged on the same side of the Y-axis rack 225 and are symmetrical along the length direction of the longitudinal beam 22, and.

In the using process, after the first layer of bagged material packages are completely stacked, the second layer of bagged material packages are overlapped and stacked, and at the moment, in order to ensure that the bagged material packages can be overlapped and stacked, the height distance between one side of the longitudinal beam 22, which is close to the bagged material package receiving equipment, and the bagged material packages is adjusted; when the height of the longitudinal beam 22 needs to be adjusted in the Y-axis direction, the output end of the Y-axis driving motor 227 penetrates through the sliding plate assembly 24 to be connected with the Y gear, and the Y-axis driving motor 227 is started to drive the Y gear to move in the length direction of the Y-axis rack 225; when needs are close to bagged material package receiving equipment for the Y gear to be close to bagged material package receiving equipment can, otherwise, can realize keeping away from.

Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.

Example 3:

the present embodiment is further optimized on the basis of the above embodiments, as shown in fig. 4 to 8, the stacking hopper 1 includes two side plates 11, a connecting plate 12 disposed between the two side plates 11, a bottom plate 13 rotatably connected to the side plates 11, a bottom plate driving mechanism 131 for driving the bottom plate 13 to open or close relative to the side plates 11 and mounted on the side plates 11, and a hopper mounting bracket disposed on one side of the side plates 11 away from the bottom plate 13 and used for mounting a hopper rotation driving mechanism; the two side plates 11, the connecting plate 12 and the bottom plate 13 form a bin for receiving a bagged material packet.

It needs to be explained that, through the improvement, in the use, bagged material package is through stopping during a packet subcontracting mechanism transports bagged material package to sign indicating number material hopper 1, Y axle actuating mechanism control sign indicating number material hopper 1 goes up and down to suitable high back, control bottom plate actuating mechanism 131 drives bottom plate 13 and keeps away from 11 one side motion of curb plate, make the bottom of feed bin open, bagged material package in the sign indicating number material hopper 1 will get into the chartered plane from the bottom of opening on, after placing the completion, Y axle actuating mechanism will control sign indicating number material hopper 1 upward movement, bottom plate actuating mechanism 131 will control bottom plate 13 to the one side motion that is close to curb plate 11 this moment, seal the bottom of sign indicating number material hopper, wait for next time to stop a packet subcontracting mechanism and transport bagged material package to the feed bin.

Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.

Example 4:

this embodiment is further optimized on the basis of the above embodiment, as shown in fig. 4, the hopper rotation driving mechanism includes a C-slave gear 153 fixedly installed on a side of the hopper mounting frame away from the bottom plate 13, a C-master gear 152 engaged with the C-slave gear 153, and a rotation driving motor 151 for driving the C-master gear 152 to rotate, and an output shaft of the rotation driving motor 151 is coaxial with and connected to the C-master gear 152.

It should be noted that, through the above improvement, when the placing direction of the bagged material package in the stacking hopper 1 does not conform to the placing direction of the bagged material package in the box body, an operator will control the rotary driving motor 151 to work, the C main gear 152 connected to the output shaft of the rotary driving motor 151 will rotate under the driving of the output shaft, so as to drive the C auxiliary gear 153 engaged with the C main gear 152 to rotate, since the C auxiliary gear 153 is fixedly installed on the hopper installation frame, so as to drive the stacking hopper 1 to rotate, when the placing direction of the bagged material package in the stacking hopper 1 is consistent with the placing direction of the bagged material package in the box body, the rotary driving motor 151 stops driving; and then the bottom plate 13 is opened through the bottom plate driving mechanism, so that the bagged material bags with corrected positions are stacked in the box body.

Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.

Example 5:

the present embodiment is further optimized on the basis of the above embodiments, as shown in fig. 4 to 8, a guiding correction mechanism is further installed on the hopper mounting rack, the guiding correction mechanism includes a swing plate 14 installed in the storage bin, and a material swinging driving motor 141 for driving the swing plate 14 to dial materials and installed on one side of the swing plate 14 far from the bottom plate 13, the material swinging driving motor 141 is installed on one side of the c slave gear 153 far from the hopper mounting rack, an output shaft of the material swinging driving motor 141 is coaxial with the c slave gear 153, and an output shaft of the material swinging driving motor 141 passes through the c slave gear 153 and is connected with one side of the swing plate 14 close to the connecting plate 12.

It should be noted that, with the above improvement, a material swinging reducer is provided between the output shaft of the material swinging drive motor 141 and the swinging plate 14.

It should be noted that, through the improvement, the purpose of setting up pendulum board 14 is to put in order to accord with when not meeting the requirement in the bagged materials package in the feed bin and correct, is rectifying to accord with and places the requirement after, opens bottom plate 13 and places bagged materials package in the box. The swing plate 14 is provided with a center portion of the bin and cooperates with the side plate 11 to divide the bin into two sub-bins.

In the using process, when a bagged material packet enters one of the sub-bins, the material swinging driving motor 141 controls the swinging plate 14 to rotate towards the other sub-bin which is not fed, so that the sub-bin which is fed forms a feeding hole with a larger opening, the bagged material packet can more conveniently enter the sub-bin, and in order to avoid that the bagged material packet is not qualified after entering the sub-bin, the material swinging driving motor 141 controls the swinging plate 14 to rotate towards one side close to the bagged material packet, so that the position of the bagged material packet is corrected; after correcting, another bagged material package will enter into the sub-bin of the bagged material package not, correct at last, correct two backs, open bottom plate 13 and put two bagged material packages in the packing car.

Preferably, a groove for installing the material swinging driving motor 141 is formed in one end, close to the stacking hopper 1, of the longitudinal beam 22, a mounting plate is arranged on one side, close to the c-slave gear 153, of the longitudinal beam 22, the mounting plate is fixedly connected with the longitudinal beam 22, and one side, close to the connecting plate 12, of an output shaft of the material swinging driving motor 141 penetrates through the mounting plate and the c-slave gear to be connected with one side, close to the connecting plate 12, of the swinging plate 14. The c is rotatably connected to the mounting plate from the side of the gear 153 adjacent the mounting plate. An output shaft of the rotary drive motor 151 passes through the mounting plate to be coaxial with the C main gear 152.

Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.

Example 6:

the present embodiment is further optimized on the basis of the above embodiments, as shown in fig. 5 and fig. 6, the bottom plate 13 includes a bottom plate body, and a bottom plate rotating shaft 132 connected to the bottom plate body and having two ends rotatably installed at one side of the two side plates 11 close to each other; the bottom plate driving mechanism 131 comprises a transmission chain wheel and chain assembly 1311 which is arranged on the side plate 11 and connected with the bottom plate rotating shaft 132, and a chain wheel and chain driving device 1312 for driving the transmission chain wheel and chain assembly 1311 to rotate; the driving sprocket chain assembly 1311 comprises a driven sprocket 13113, a chain 13112 and a driving sprocket 13111, wherein the driven sprocket 13113, the chain 13112 and the driving sprocket 13111 are coaxially arranged with the bottom plate rotating shaft 132 and are connected with each other; the driven sprocket 13113 and the driving sprocket 13111 are engaged with a chain 13112, respectively.

It should be noted that, with the above improvement, the driving sprocket chain assembly 1311 may be installed on the side where the two side plates 11 are close to each other or on the side where the side plate 11 is far from the bunker; as long as it can be realized that the bottom plate rotating shaft 132 is driven to rotate by the driving sprocket chain assembly 1311, so that the floor can be opened or closed relative to the side plate 11.

In order to ensure that the bagged material bag does not interfere with the transmission chain wheel and chain assembly 1311 in the storage bin, the transmission chain wheel and chain assembly 1311 is prevented from damaging the bagged material bag; for this purpose, the drive sprocket chain assembly 1311 is arranged on the side of the side plate 11 remote from the silo.

When the base plate 13 is a single piece, the sprocket chain drive 1312 preferably employs a servo motor, the output shaft of which is coaxially disposed with and connected to the driving sprocket 13111. In the using process, when a bagged material bag in the storage bin needs to be opened, the output shaft of the servo motor is controlled to rotate, the driving sprocket 13111 coaxially arranged with the output shaft of the servo motor rotates under the condition that the output shaft of the servo motor rotates, so that the chain 13112 meshed with the output shaft is driven to rotate, and the driven sprocket 13113 is meshed with the chain 13112 to enable the driven sprocket 13113 to rotate; the base plate rotation shaft 132, which is coaxially disposed and connected to the driven sprocket 13113 in the case of rotation thereof, is driven to rotate, thereby achieving opening of the base plate 13; when the switch needs to be closed, the principle is the same as that of the switch on, and the rotation direction of the servo motor is related to that of the switch on, so that the switch can be realized. The preferred sprocket chain drive 1312 can also be a positive and negative rotating motor.

The drive sprocket chain assembly 1311 is prior art.

Preferably, when the bottom plate 13 is two and symmetrically arranged, two ends of the bottom plate are respectively and rotatably connected with the two side plates 11. The base plate rotating shafts 132 of the two base plates 13 are arranged on the sides of the two base plates 13 far away from each other. The chain driving device 1312 comprises a chain driving motor 13123, an A master gear 13121 coaxially arranged with the output shaft of the chain driving motor 13123, and a slave gear 13122 meshed with the master gear 13121, wherein the output shaft of the chain driving motor 13123 is coaxially arranged with the driving sprocket 13111 of one group of chain driving assemblies 1311 and is connected with each other; the a slave gears 13122 are coaxially disposed with the drive sprockets 13111 of another set of drive sprocket chain assemblies 1311 and are interconnected.

When bottom plate 13 is two, in order to put into the chartered plane with the bagged material package in the feed bin, two bottom plates 13 only can accomplish the bagged material package and place under the condition that all open. At this time, the sprocket chain driving device 1312 needs to drive the two bottom plates 13 to open simultaneously, and in order to open the two bottom plates 13, an a master gear 13121 and a slave gear 13122 meshed with the a master gear 13121 are coaxially installed on the output shaft of the sprocket chain driving motor 13123, the a master gear 13121 is connected to the master sprocket 13111 of one of the driving sprocket chain assemblies 1311, and the a slave gear 13122 is connected to the master sprocket 13111 of the other driving sprocket chain assembly 1311, so that one sprocket chain driving motor 13123 can be used to drive the two driving sprocket chain assemblies 1311 to operate.

Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.

Example 7:

the present embodiment is further optimized on the basis of the above embodiments, as shown in fig. 7 and 8, the bottom plate 13 includes a bottom plate body, and a bottom plate rotating shaft 132 connected to the bottom plate body and having two ends rotatably installed at one side of the two side plates 11 close to each other; the bottom plate driving mechanism 131 comprises a link mechanism 1313 with one end mounted on the side plate 11 and the other end connected with the bottom plate 13, and a link mechanism driving device 1314 connected with one end of the link mechanism 1313 far away from the bottom plate 13; the link mechanism 1313 includes an ear plate pin 13131 mounted on the side plate 11, a knuckle bearing 13132 hinged to the ear plate pin 13131, a connecting rod 13133 connected to one end of the knuckle bearing 13132 away from the ear plate bearing, and a connecting shaft 13134 connected to the connecting rod 13133 and the bottom plate 13, respectively.

It should be noted that, with the above modification, the ear plate pin 13131 includes a pin rotatably connected to the link mechanism driving device 1314, and an ear plate installed on the outer side surface of the pin, and one end of the ear plate away from the pin is hinged to the joint bearing 13132.

When the bottom plate 13 needs to be opened, the link mechanism driving device 1314 drives the lug plate pin shaft 13131 which is rotationally connected with the link mechanism driving device to rotate, under the condition that the pin shaft rotates, the lug seat rotates around the central axis of the pin shaft, because the lug plate is hinged with the knuckle bearing 13132, when the lug plate rotates, an included angle formed between the knuckle bearing 13132 and the lug plate sends changes, the knuckle bearing 13132 moves towards one end close to the packing vehicle, and therefore the connecting rod 13133 and the connecting shaft 13134 which are sequentially connected with the knuckle bearing 13132 are driven to move towards one end close to the packing vehicle, and therefore the bottom of the storage bin is opened by the bottom plate 13. When the link mechanism 1313 is used to close the bottom plate 13, the operation principle is the same as that of opening, but the direction of rotation of the driving pin shaft is different.

When the bottom plate 13 is a single plate, the link mechanism driving device 1314 may adopt a servo motor or a forward and reverse rotation motor, and the output end thereof is coaxially disposed with the pin shaft and connected to each other. The mounting position of the linkage 1313 is the same as that of the drive sprocket chain assembly 1311 in embodiment 6. Preferably on the side of the side plate 11 remote from the silo.

Preferably, when the bottom plate 13 is two and symmetrically arranged, two ends of the bottom plate are respectively and rotatably connected with the two side plates 11. The base plate rotating shafts 132 of the two base plates 13 are arranged on the sides of the two base plates 13 far away from each other. Two sets of link mechanisms 1313 are respectively connected with the two bottom plates 13, the link mechanism driving device 1314 comprises a link mechanism driving motor 13143, a B main gear 13141 coaxially arranged with an output shaft of the link mechanism driving motor 13143, and a B auxiliary gear 13142 meshed with the B main gear 13141, and the output shaft of the link mechanism driving motor 13143 is connected with an ear plate pin shaft 13131 of one set of link mechanisms 1313; the b slave gear 13142 is coaxially arranged and connected with the driving sprocket 13111 of the other set of link mechanism 1313.

In order to put into the packing car with the bagged material package in the feed bin, two bottom plates 13 only can accomplish the placement with bagged material package under the condition of all opening. At this time, the link mechanism driving device 1314 needs to drive the two bottom plates 13 to open simultaneously, in order to realize the opening of the two bottom plates 13, a B main gear 13141 and a B auxiliary gear 13142 meshed with the B main gear 13141 are coaxially installed on an output shaft of the link mechanism driving motor 13143, the B main gear 13141 is connected with a pin shaft of one group of link mechanisms 1313, and the B auxiliary gear 13142 is connected with a pin shaft of the other group of link mechanisms 1313, so that one link mechanism driving motor 13143 can be adopted to drive the two groups of link mechanisms 1313 to operate.

Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.

Example 8:

the present embodiment is further optimized based on the above embodiments, as shown in fig. 1, fig. 2, and fig. 9, a clasping mechanism 216 is further disposed on the slider assembly 24 and cooperates with the X pulley 214 for clasping the two sets of X slide rails 213, and the clasping mechanism 216 includes a clasping clip 2162 mounted on the slider assembly 24 on one side far from the cross beam 21, an eccentric shaft 2161 rotatably mounted on the clasping clip 2162, and an X clasping pulley 2164 coaxially disposed with and rotatably connected to one end of the eccentric shaft 2161 far from the clasping clip 2162.

One end of the eccentric shaft 2161 far away from the clasping 2162 sequentially passes through the clasping 2162, the sliding plate assembly 24 and the X clasping pulley 2164 to be connected in a rotating manner, the X clasping pulley 2164 comprises an X clasping pulley body, an X rotating shaft 2163 which is coaxially arranged with the X clasping pulley body and is coaxially connected with the eccentric shaft 2161 near one side of the cross beam 21, and the X clasping pulley body is rotatably connected with the X rotating shaft 2163.

The clasping clamp 2162 belongs to the prior art, and is mainly used for locking the eccentric shaft 2161 after rotation, so that the rotation of the eccentric shaft 2161 after adjustment is avoided.

In the using process, when the sliding plate assembly 24 shakes in the process of linear motion along the length direction of the cross beam 21, an operator can stop the movement of the sliding plate assembly 24, a bolt used for locking one end, away from the cross beam 21, of the eccentric shaft 2161 on the clamp is loosened, so that the clamp 2162 is not locked to the eccentric shaft 2161 any more, at the moment, one end, close to the clamp 2162, of the eccentric shaft 2161 is rotated, so that the relative position of the X clamp pulley 2164 and the X-axis driving mechanism is adjusted, at the moment, the X clamp pulley 2164 rotates along the axis of one side, away from the cross beam 21, of the eccentric shaft 2161, after the adjustment is in place, the clamp 2162 locks one end, away from the cross beam 21, of the eccentric shaft 2161 again, and the shake is avoided.

Preferably, the X-clasping pulley 2164 is disposed at one side close to the stacking hopper 1 and is slidably connected with the X-slide rail 213 at one side close to the stacking hopper 1, and the X-pulley 214 is slidably connected with the X-slide rail 213 at one side far from the stacking hopper 1.

Preferably, a Y clasping mechanism used in cooperation with the Y pulley 224 is further disposed on the sliding plate assembly 24, and the clasping mechanism 216 and the Y clasping mechanism have the same structure and the same working principle; and will not be described in detail herein.

Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.

Example 9:

the present embodiment is further optimized on the basis of the above embodiments, as shown in fig. 1, fig. 2, and fig. 3, in order to enable the relationship involved in the using process to be better accommodated and guided; the driving assembly further comprises an X guide component which is arranged on one side of the sliding plate component 24 close to the cross beam 21 and connected with the cross beam 21 and a Y guide component which is arranged on one side of the sliding plate component 24 close to the longitudinal beam 22 and connected with the longitudinal beam 22;

the X guide assembly comprises an X drag chain 212 which is arranged along the length direction of the cross beam 21 and one end of which is arranged on the cross beam 21, and a drag chain connecting rod 23 which is used for connecting one end of the X drag chain 212 far away from the cross beam 21 with the sliding plate assembly 24;

the Y-shaped guide assembly comprises a Y-shaped drag chain 222 which is arranged along the length direction of the longitudinal beam 22 and one end of which is arranged on the longitudinal beam 22; the end of the tow chain connecting rod 23 away from the X tow chain 212 passes through the slide plate assembly 24 to be connected with the end of the Y tow chain 222 away from the longitudinal beam 22.

An X sliding groove 211 for mounting an X drag chain 212 is arranged on the cross beam 21, and a Y sliding groove 221 for mounting a Y drag chain 222 is arranged on the longitudinal beam 22.

In order to ensure that the sliding of the longitudinal beam 22 relative to the cross beam 21 is more stable and the related pipelines can be better installed in the using process, an X guide assembly connected with one side of the sliding plate assembly 24 close to the cross beam 21 is arranged on the cross beam 21, and a Y guide assembly connected with the sliding plate assembly 24 is arranged on the longitudinal beam 22; the lines that are installed in the Y-guide assembly and the X-guide assembly will change as the Y-guide assembly and the X-guide assembly change during use.

The above is only the preferred embodiment of the present invention, not to the limitation of the present invention in any form, all the technical matters of the present invention all fall into the protection scope of the present invention to any simple modification and equivalent change of the above embodiments.

Claims (10)

1. The utility model provides a loading robot's sign indicating number material aircraft nose which characterized in that: comprises a cross sliding table structure (2) moving along the X-axis direction and/or the Y-axis direction and a stacking hopper (1) connected with the cross sliding table structure; the cross sliding table structure (2) comprises a cross beam (21) arranged along an X axis, a longitudinal beam (22) arranged along a Y axis and linearly moving along the long direction of the cross beam (21), and a driving assembly used for driving the longitudinal beam (22) to move on the cross beam (21) along the X axis direction and/or the Y axis direction, wherein the stacking hopper (1) is connected with one end of the longitudinal beam (22); a hopper rotation driving mechanism used for driving the stacking hopper (1) to rotate is further arranged between the stacking hopper (1) and the longitudinal beam (22).

2. The stacking machine head of the loading robot as claimed in claim 1, wherein: the driving assembly comprises a sliding plate component (24) arranged between the cross beam (21) and the longitudinal beam (22), an X-axis driving mechanism which is installed on the sliding plate component (24) and connected with the sliding plate component in a linear motion mode along the length direction of the cross beam (21), and a Y-axis driving mechanism which is installed on the sliding plate component (24) and moves linearly along the length direction of the longitudinal beam (22).

3. The stacking machine head of the loading robot as claimed in claim 2, wherein: the X-axis driving mechanism comprises an X-axis rack (215) which is arranged on one side of the beam (21) close to the sliding plate assembly (24) and arranged along the length direction of the beam (21), an X gear (2171) meshed with the X-axis rack (215), an X-axis driving motor (217) which is used for driving the X gear (2171) to rotate and is arranged on the sliding plate assembly (24), X sliding rails (213) which are arranged symmetrically along the length direction of the beam (21) and on the same side of the X-axis rack (215), an X pulley (214) matched with one X sliding rail (213) and a holding mechanism (216) which is arranged on the sliding plate assembly (24) and is matched with the other X sliding rail (213) for use.

4. The stacking machine head of the loading robot as claimed in claim 3, wherein: the clasping mechanism (216) comprises a clasping clamp (2162) which is arranged on one side of the sliding plate component (24) far away from the cross beam (21), an eccentric shaft (2161) which is rotatably arranged on the clasping clamp (2162), and an X clasping pulley (2164) which is coaxially arranged with one end of the eccentric shaft (2161) far away from the clasping clamp (2162) and is rotatably connected.

5. The stacking head of the loading robot as claimed in any one of claims 2 to 4, wherein: y axle actuating mechanism is including installing Y axle rack (225) that is close to slide subassembly (24) one side and sets up along longeron (22) length direction in longeron (22), Y gear with Y axle rack (225) meshing, be used for driving Y gear revolve and install Y axle driving motor (227) on slide subassembly (24), with Y axle rack (225) homonymy and along longeron (22) length direction symmetry set up Y slide rail (223) and with install slide subassembly (24) be close to longeron (22) one side and with Y pulley (224) that Y slide rail (223) cooperation was used.

6. The stacking machine head of the loading robot as claimed in claim 1, wherein: the stacking hopper (1) comprises two side plates (11), a connecting plate (12) arranged between the two side plates (11), a bottom plate (13) rotatably connected with the side plates (11), a bottom plate driving mechanism (131) used for driving the bottom plate (13) to be opened or closed relative to the side plates (11) and installed on the side plates (11), and a hopper installation frame arranged on one side, far away from the bottom plate (13), of the side plates (11) and used for installing a hopper rotation driving mechanism; the two side plates (11), the connecting plate (12) and the bottom plate (13) form a bin for receiving bagged material bags.

7. The stacking machine head of the loading robot as claimed in claim 6, wherein: the hopper rotation driving mechanism comprises a C-slave gear (153) fixedly mounted on one side, far away from the bottom plate (13), of the hopper mounting frame, a C-master gear (152) meshed with the C-slave gear (153) and a rotation driving motor (151) used for driving the C-master gear (152) to rotate, and an output shaft of the rotation driving motor (151) is coaxial with and connected with the C-master gear (152).

8. The stacking machine head of the loading robot as claimed in claim 7, wherein: still install the direction on the hopper mounting bracket and correct the mechanism, the direction is corrected the mechanism and is dialled the material and install pendulum material driving motor (141) of keeping away from bottom plate (13) one side at pendulum plate (14) including installing pendulum plate (14) in the feed bin, being used for driving pendulum plate (14), pendulum material driving motor (141) are installed and are kept away from one side of hopper mounting bracket at c from gear (153), the output shaft of pendulum material driving motor (141) is coaxial from gear (153) with c, the output shaft of pendulum material driving motor (141) passes c and is connected from gear (153) and one side that pendulum plate (14) are close to connecting plate (12).

9. The stacking head of the loading robot as claimed in any one of claims 6 to 8, wherein: the bottom plate (13) comprises a bottom plate body and a bottom plate rotating shaft (132) which is connected with the bottom plate body, and two ends of the bottom plate rotating shaft are rotatably arranged on one side of the two side plates (11) close to each other; the bottom plate driving mechanism (131) comprises a transmission chain wheel and chain assembly (1311) which is arranged on the side plate (11) and connected with the bottom plate rotating shaft (132), and a chain wheel and chain driving device (1312) which is used for driving the transmission chain wheel and chain assembly (1311) to rotate; the transmission chain wheel and chain assembly (1311) comprises a driven chain wheel (13113) and a chain (13112), wherein the driven chain wheel and the chain assembly are coaxially arranged with the bottom plate rotating shaft (132) and are connected with each other, and a driving chain wheel (13111) is connected with the chain wheel and chain driving device (1312); the driven sprocket (13113) and the driving sprocket (13111) are respectively engaged with the chain (13112).

10. The stacking head of the loading robot as claimed in any one of claims 6 to 8, wherein: the bottom plate (13) comprises a bottom plate body and a bottom plate rotating shaft (132) which is connected with the bottom plate body, and two ends of the bottom plate rotating shaft are rotatably arranged on one side of the two side plates (11) close to each other; the bottom plate driving mechanism (131) comprises a link mechanism (1313) of which one end is arranged on the side plate (11) and the other end is connected with the bottom plate (13), and a link mechanism driving device (1314) connected with one end, far away from the bottom plate (13), of the link mechanism (1313); the link mechanism (1313) comprises an ear plate pin shaft (13131) arranged on the side plate (11), a joint bearing (13132) hinged with the ear plate pin shaft (13131), a connecting rod (13133) connected with one end, far away from the ear plate bearing, of the joint bearing (13132), and a connecting shaft (13134) connected with the connecting rod (13133) and the bottom plate (13) respectively.

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