Automatic loading machine assembly

Abstract

The present application discloses an automatic loading machine assembly, including a feeding mechanism, a material dividing mechanism, a stacking machine head and a controller, wherein the feeding mechanism includes a feeding port of the feeding mechanism and at least two discharging channels; the material dividing mechanism is used to control the current discharging channel to be connected with the feeding port of the feeding mechanism, and to block the waiting discharging channel from the feeding port of the feeding mechanism; the stacking machine head is used to stack the material packages at the discharging channel in a preset stacking area; the stacking machine head includes a stacking device corresponding to the discharging channel one by one, each stacking device includes a three-axis driving mechanism and a manipulator, and the three-axis driving mechanism is connected to the manipulator to control the manipulator to move in the XYZ three-dimensional space. The automatic loading machine assembly provided by the present application adopts a method in which multiple discharging channels and multiple stacking devices operate simultaneously, thereby improving the stacking efficiency.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle loading robots, and more specifically, to an automatic vehicle loading machine assembly. Background Art

[0002] The loader can transport and stack the material bags. The loader in the prior art generally adopts a single transport channel and a manipulator. After the material bags are transported to the predetermined position, the manipulator grabs the material bags from the end of the transport channel and places the material bags at the position where they need to be stacked. Since there is only a single transport channel and a single manipulator, and multiple material bags are transported continuously, the process of stacking the material bags takes more time than the process of transporting the material bags. As a result, the material bags are piled up on the transport channel, or the transport channel stops transporting and waits for the manipulator to operate, resulting in low efficiency of stacking.

[0003] Therefore, how to provide a solution to the above technical problems is a problem that those skilled in the art need to solve at present. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide an automatic loading machine assembly, which has the characteristics of high packaging efficiency.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] An automatic loading machine assembly, comprising:

[0007] A feeding mechanism, used to control the movement of the material package from front to back, including a feeding port of the feeding mechanism and at least two discharge channels;

[0008] A material dividing mechanism, arranged above the feeding mechanism, for controlling the current material discharging channel to be connected with the material feeding port of the feeding mechanism, and blocking the material discharging channel to be processed from the material feeding port of the feeding mechanism;

[0009] A packing machine head is used to pack the packs at the discharge channel in a preset packing area; the packing machine head includes a packing device corresponding to each of the discharge channels, each of the packing devices includes a three-axis driving mechanism and a manipulator, and the three-axis driving mechanism is connected to the manipulator to control the manipulator to move in an XYZ three-dimensional space;

[0010] The feeding mechanism, the material dividing mechanism and the bagging machine head are electrically connected to the controller respectively.

[0011] Optionally, it also includes a feeding and stopping mechanism corresponding one-to-one to the discharge channel and used for temporarily storing material packages, each of the feeding and stopping mechanisms includes a conveying part and a driving part, the driving part is connected to the conveying part and controls the start and stop of the conveying part, and the feed port of the conveying part is connected to the corresponding discharge channel.

[0012] Optionally, it also includes a space detection device for detecting the length, width and height of the preset stacking area, the space detection device is electrically connected to the controller, and the controller is used to control the action process of the three-axis drive mechanism according to the detection results of the space detection device and the preset material package specifications.

[0013] Optionally, the robot includes a gripper, a telescopic mechanism and a pressure plate for pressing the top of the material package, the gripper includes a fixed seat and an openable and closable clamp, the upper end of the telescopic mechanism is fixedly connected to the fixed seat, the lower end of the telescopic mechanism is connected to the pressure plate, and the pressure plate is located inside the clamp.

[0014] Optionally, the three-axis driving mechanism includes:

[0015] A lifting mechanism, movable along the Z axis, connected to the manipulator;

[0016] The Y-axis translation mechanism comprises a Y-axis frame and a Y-axis driving mechanism, wherein the Y-axis frame is a rectangular frame structure, the lifting mechanism is arranged inside the Y-axis frame, and the Y-axis driving mechanism is connected to the lifting mechanism and controls the lifting mechanism to move along the Y-axis;

[0017] The X-axis translation mechanism comprises an X-axis frame and an X-axis driving mechanism, wherein the X-axis frame is a rectangular frame structure, the Y-axis frame is arranged inside the X-axis frame, and the X-axis driving mechanism is connected to the Y-axis frame and controls the Y-axis frame to move along the X-axis.

[0018] Optionally, the lifting mechanism includes a base, a lifting drive mechanism and a lifting guide rod, the base is arranged inside the Y-axis frame, the lifting drive mechanism is arranged on the base, the driving end of the lifting drive mechanism is connected to the lifting guide rod through a lifting transmission assembly and controls the lifting guide rod to move along the Z-axis, and the base is provided with an avoidance gap for the lifting guide rod to be lifted and lowered; the manipulator is arranged at the bottom of the lifting guide rod, and the Y-axis drive mechanism is connected to the base and controls the base to move along the Y-axis.

[0019] Optionally, the material distribution mechanism includes:

[0020] The material-discharging head is located behind the feeding port of the feeding mechanism and in front of the discharging channel; it includes a left baffle and a right baffle that are relatively distributed, and the distance from the left baffle to the right baffle gradually increases from front to back.

[0021] The material-dispensing driving mechanism is connected to the material-dispensing head and controls the material-dispensing head to alternately swing and stop at a first preset position and a second preset position.

[0022] Optionally, the material shifting head also includes a support frame arranged between the left baffle and the right baffle, the support frame is fixedly connected to the left baffle and / or the right baffle, the front end of the support frame has a preset distance to the front end of the left baffle and / or the right baffle, and there is a gap between the front end of the left baffle and the front end of the right baffle.

[0023] Optionally, the feeding mechanism includes a feed channel, the inlet of each discharge channel is connected to the outlet of the feed channel, each discharge channel is horizontally arranged, the feed channel is inclined, and the height of the feed channel gradually decreases from front to back.

[0024] Optionally, each of the feed channels includes a first driving part and a first supporting part for supporting the material bag, the first driving part is connected to the first supporting part, and controls the operating state of the first supporting part, and the operating state includes one or more of moving direction, moving speed, start and stop.

[0025] Through the above solution, the beneficial effects of the automatic loading machine assembly provided by the present application are:

[0026] The automatic loading machine assembly provided in the present application includes: a feeding mechanism, a material dividing mechanism, a stacking head and a controller, wherein the feeding mechanism includes a feeding port of the feeding mechanism and at least two discharging channels; the material dividing mechanism is used to control the current discharging channel to be connected with the feeding port of the feeding mechanism, and to block the waiting discharging channel from the feeding port of the feeding mechanism; the stacking head is used to stack the material packages at the discharging channel in a preset stacking area; the stacking head includes stacking devices corresponding to the discharging channels one by one, and each stacking device includes a three-axis drive mechanism and a manipulator, and the three-axis drive mechanism is connected to the manipulator to control the movement of the manipulator in the XYZ three-dimensional space.

[0027] During the working process, the material packages of one path at the feeding port of the feeding mechanism are divided into various discharge channels after being processed by the material dividing mechanism, and at the same time, each stacking device moves and stacks the material packages on the corresponding discharge channel. Therefore, compared with the single-path material package conveying and single-manipulator stacking method in the prior art, the automatic loading machine assembly in the present application improves the stacking efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0029] Figure 1A structural schematic diagram of an automatic loading machine assembly provided in an embodiment of the present application;

[0030] Figure 2 for Figure 1 A top view of the automatic loading machine assembly shown;

[0031] Figure 3 for Figure 1 The front view of the automatic loading machine assembly shown;

[0032] Figure 4 A schematic diagram of the structure of a code packet head provided in an embodiment of the present application;

[0033] Figure 5 for Figure 4 The front view of the baggage machine head shown;

[0034] Figure 6 for Figure 5 Schematic diagram of the AA section;

[0035] Figure 7 A schematic structural diagram of a palletizing device provided in an embodiment of the present application;

[0036] Figure 8 for Figure 7 A top view of the palletizing device shown;

[0037] Fig. 9 A schematic diagram of the structure of a Y-axis translation mechanism, a lifting mechanism and a manipulator provided in an embodiment of the present application;

[0038] Fig.10 for Fig. 9 a top view of the assembly shown;

[0039] Fig.11 for Fig. 9 a front view of the assembly shown;

[0040] Fig.12 A schematic diagram of the structure of a manipulator provided in an embodiment of the present application;

[0041] Fig.13 A front view of a clamping jaw in a closed state provided in an embodiment of the present application.

[0042] Fig.14 A schematic diagram of the structure of a feeding mechanism, a material distribution mechanism and a conveyor provided in an embodiment of the present application;

[0043] Fig.15 for Fig.14 a top view of the assembly shown;

[0044] Fig.16 A schematic diagram of the structure of a material dispensing mechanism provided in an embodiment of the present application;

[0045] Fig.17 for Fig.16 A top view of the material distribution mechanism shown;

[0046] Fig.18 A schematic diagram of the structure of another material dispensing mechanism provided in an embodiment of the present application;

[0047] Fig.19 A layout diagram of a sensor provided in an embodiment of the present application.

[0048] The reference numerals in the figure are:

[0049] Packaging head 1, X-axis translation mechanism 11, X-axis frame 111, X-axis drive mechanism 112, X-axis motor 1121, X-axis transmission belt assembly 1122, synchronous wheel 1123, transmission rod X1124; Y-axis translation mechanism 12, Y-axis frame 121, Y-axis drive mechanism 122, Y-axis motor 1221, Y-axis transmission belt assembly 1222, gear block 1223; lifting mechanism 13, base 131, lifting drive mechanism 132, lifting guide rod 133, lifting transmission assembly 134; manipulator 14, gripper 141, fixed seat 1411, clamping claw 1412, rotating mechanism 142, telescopic mechanism 143, pressing plate 144;

[0050] Material dispensing mechanism 2, material dispensing head 21, baffle 211, left baffle 2111, right baffle 2112, support frame 212, left bracket 2121, right bracket 2122, connecting plate 213; material dispensing driving mechanism 22; material dispensing frame 23;

[0051] Feeding mechanism 3, discharge channel 31, feed channel 32, feeding mechanism feed port 33;

[0052] Feeding and stopping mechanism 4;

[0053] Conveyor 5;

[0054] Material package 6;

[0055] The first sensor 71 , the second sensor 72 , the third sensor 73 , the fourth sensor 74 , the fifth sensor 75 , the sixth sensor 76 , and the seventh sensor 77 . DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] Please refer to Figures 1 to 3 The automatic loading machine assembly provided in the present application includes a feeding mechanism 3, a material dividing mechanism 2, a packing machine head 1 and a controller. Among them, the feeding mechanism 3 is used to control the movement of the material package 6 from front to back, and the feeding mechanism 3 includes a feeding mechanism feed port 33 and at least two discharge channels 31. The material dividing mechanism 2 is arranged above the feeding mechanism 3, and the material dividing mechanism 2 is used to control the current discharge channel to be connected with the feeding mechanism feed port 33, and to block the waiting discharge channel from the feeding mechanism feed port 33. When working, a single material package 6 only enters one discharge channel 31. The discharge channel 31 entering the material package 6 at this time is called the discharge channel, and the discharge channel 31 not entering the material package 6 is called the waiting discharge channel. The packing machine head 1 is used to stack the material packs 6 at the discharge channel 31 in a preset stacking area; the packing machine head 1 includes a stacking device corresponding to the discharge channel 31, each stacking device includes a three-axis drive mechanism and a manipulator 14, and the three-axis drive mechanism is connected to the manipulator 14 to control the manipulator 14 to move in the XYZ three-dimensional space. The controller feeding mechanism 3, the material distribution mechanism 2, and the packing machine head 1 are electrically connected to the controller respectively to control the action process of each mechanism.

[0058] During operation, the material packages 6 of one path at the feeding port 33 of the feeding mechanism are divided by the dividing mechanism 2 and are respectively divided into various discharge channels 31, and at the same time, each stacking device moves and stacks the material packages 6 on the corresponding discharge channels 31. Therefore, compared with the single-path material package 6 conveying and single manipulator 14 stacking method in the prior art, the automatic loading machine assembly in the present application improves the stacking efficiency.

[0059] Furthermore, in one embodiment, the automatic loading machine assembly also includes a feeding and stopping mechanism 4, which corresponds one-to-one to the discharge channel 31. The feeding and stopping mechanism 4 is used to temporarily store the material package 6. Each feeding and stopping mechanism 4 includes a conveying part and a driving part. The conveying part can adopt a conveying roller or a conveyor belt, and the driving part can adopt a motor and a transmission structure. The driving part is connected to the conveying part and controls the start and stop of the conveying part. The feed port of the conveying part is connected to the corresponding discharge channel 31. Figure 1 The structure shown in FIG. 4 is a case where there are two feeding and stopping mechanisms 4. When the bagging machine head 1 is in the bagging process and cannot continue to grab the next bag 6, the conveying part can be controlled to stop moving to store the bag 6.

[0060] Furthermore, in one embodiment, the automatic loader assembly also includes a space detection device, which is used to detect the length, width and height of the preset stacking area. The space detection device may specifically include multiple sensors to respectively detect the length, width and height of the preset stacking area. The sensors are used in combination and send the detection results to the controller respectively. The space detection device is electrically connected to the controller. The controller is used to control the action process of the three-axis drive mechanism according to the detection results of the space detection device and the preset material package specifications so that the material packages are stacked neatly.

[0061] The three-axis driving mechanism of the packet handling head 1 includes an X-axis translation mechanism 11 , a Y-axis translation mechanism 12 , and a lifting mechanism 13 .

[0062] The X-axis translation mechanism 11 is connected to the Y-axis translation mechanism 12 and controls the Y-axis translation mechanism 12 to move along the X-axis. There are many options for the structure of the X-axis translation mechanism 11, for example, it can adopt a telescopic structure such as a cylinder or a hydraulic rod; or it can adopt a non-telescopic structure such as a slide table or a lead screw.

[0063] Optionally, in one embodiment, the X-axis translation mechanism 11 includes an X-axis frame 111 and an X-axis driving mechanism 112. The X-axis frame 111 is connected to the Y-axis translation mechanism 12. The X-axis driving mechanism 112 is disposed on the X-axis frame 111, and the X-axis driving mechanism 112 is connected to the Y-axis translation mechanism 12, for example, connected to the Y-axis frame 121 of the Y-axis translation mechanism 12, and the X-axis driving mechanism 112 controls the movement of the Y-axis translation mechanism 12.

[0064] Optionally, in one embodiment, the X-axis frame 111 can adopt a rectangular frame structure, and there are at least two Y-axis translation mechanisms 12. All Y-axis translation mechanisms 12 are arranged in sequence on the X-axis frame 111 along the Y-axis direction, and each Y-axis translation mechanism 12 is correspondingly connected to an X-axis drive mechanism 112. Correspondingly, a lifting mechanism 13 is arranged on each Y-axis translation mechanism 12, and a manipulator 14 is arranged at the bottom of each lifting mechanism 13. At this time, the stacking device can control the movement of multiple material packages at the same time, stack the material packages from both sides to the middle, or stack the material packages according to other stacking rules.

[0065] Optionally, in one embodiment, the X-axis driving mechanism 112 includes an X-axis motor 1121, an X-axis transmission belt assembly 1122 and a synchronous wheel 1123, and the X-axis transmission belt assembly 1122 includes a gear X and an annular synchronous belt X. The gear X is connected to the driving shaft of the X-axis motor 1121; the annular synchronous belt X is meshed with the gear X for transmission, and the annular synchronous belt X extends along the X-axis direction; the synchronous wheel 1123 is pivotally mounted on the Y-axis translation mechanism 12, for example, the Y-axis frame 121 pivotally mounted on the Y-axis translation mechanism 12; the synchronous wheel 1123 can rotate around its own axis when subjected to external force, and the synchronous wheel 1123 is transmission-connected to the annular synchronous belt X through a gear tooth structure.

[0066] Optionally, in one embodiment, each X-axis drive mechanism 112 includes two X-axis transmission belt assemblies 1122. In the same X-axis drive mechanism 112, the two X-axis transmission belt assemblies 1122 are symmetrically distributed on both sides of the Y-axis translation mechanism 12; the gear X of the first X-axis transmission belt assembly 1122 is connected to the gear X of the second X-axis transmission belt assembly 1122 through a transmission rod X1124. The driving shaft of the X-axis motor 1121 is connected to the transmission rod X1124, and drives the transmission rod to rotate, and drives the two gears X to rotate through the transmission rod; or the driving shaft of the X-axis motor 1121 is connected to a gear X, and the gear X drives the transmission rod X1124 to rotate, and drives another gear X to rotate through the transmission rod X1124.

[0067] Optionally, in one embodiment, an X-axis guide structure is provided on the X-axis frame 111 to guide the Y-axis translation mechanism 12. The X-axis guide structure may include an X-axis guide slide bar and an X-axis guide hole, one of which is provided on the X-axis frame 111 and the other is provided on the Y-axis translation mechanism 12, and the two cooperate to improve the stability of the Y-axis translation mechanism 12 sliding along the X-axis.

[0068] Please refer to Figures 4 to 11 The Y-axis translation mechanism 12 is connected to the lifting mechanism 13 and controls the lifting mechanism 13 to move along the Y-axis. There are many options for the structure of the Y-axis translation mechanism 12, for example, it can adopt a telescopic structure such as a cylinder, a hydraulic rod, or a non-telescopic structure such as a slide table, a lead screw, etc.

[0069] Optionally, in one embodiment, the Y-axis translation mechanism 12 includes a Y-axis frame 121 and a Y-axis driving mechanism 122. The Y-axis frame 121 is connected to the X-axis translation mechanism 11, for example, connected to the X-axis driving mechanism 112 of the X-axis translation mechanism 11, and the Y-axis frame 121 moves along the X-axis under the control of the X-axis translation mechanism 11; the Y-axis driving mechanism 122 is installed on the Y-axis frame 121, and the driving mechanism is connected to the lifting mechanism 13, and controls the lifting mechanism 13 to move along the Y-axis on the Y-axis frame 121.

[0070] Optionally, in one embodiment, the Y-axis driving mechanism 122 includes a Y-axis motor 1221, a Y-axis transmission belt assembly 1222 and a gear block 1223, and the Y-axis transmission belt assembly 1222 includes a gear Y and a Y-axis annular synchronous belt. Specifically, the gear Y is directly connected to the drive shaft of the Y-axis motor 1221, or indirectly connected through a gear box or a chain; the Y-axis annular synchronous belt is meshed with the gear Y for transmission, and the Y-axis annular synchronous belt extends along the Y-axis direction. The gear block 1223 is fixed to the lifting mechanism 13 by screws or other mechanical structures, such as being specifically fixed to the base 131 of the lifting mechanism 13, and the gear block 1223 is meshed with the Y-axis annular synchronous belt for transmission.

[0071] Optionally, in one embodiment, in order to optimize the sliding effect of the lifting mechanism 13, a set of gear blocks 1223 are respectively provided on opposite sides of the lifting mechanism 13, and two sets of Y-axis transmission belt assemblies 1222 are provided on the Y-axis frame 121. Specifically, the Y-axis frame 121 is a rectangular frame structure, which has four beams connected end to end, and the lifting mechanism 13 is arranged inside the four beams of the Y-axis frame 121. The Y-axis frame 121 is provided with a Y-axis transmission belt assembly 1222 on two relatively distributed beams, each Y-axis transmission belt assembly 1222 is correspondingly connected to a set of gear blocks 1223, and a set of gear blocks 1223 specifically includes more than one gear block 1223. The two gears Y of the two Y-axis transmission belt assemblies 1222 are connected by a transmission rod Y, and the transmission rod Y can be arranged inside the beam of the Y-axis frame 121. The driving shaft of the Y-axis motor 1221 is connected to the transmission rod Y and drives the transmission rod Y to rotate, and drives the two gears Y to rotate through the transmission rod Y; or the driving shaft of the Y-axis motor 1221 is connected to a gear Y, which drives the transmission rod Y to rotate through the gear Y, and then drives another gear Y connected to the transmission rod Y to rotate.

[0072] Optionally, in one embodiment, the Y-axis frame 121 is provided with a lifting guide structure for guiding the lifting mechanism 13. The Y-axis guide structure may include a Y-axis guide slide bar and a Y-axis guide hole, one of which is provided on the Y-axis frame 121 and the other is provided on the lifting mechanism 13, and the two cooperate to improve the stability of the lifting mechanism 13 sliding along the Y-axis.

[0073] The lifting mechanism 13 can move along the Z axis, and is used to control the lifting of the manipulator 14. There are many options for the structure of the lifting mechanism 13, for example, it can adopt a telescopic structure such as a cylinder, a hydraulic rod, etc.; it can also adopt a non-telescopic structure that is lifted as a whole.

[0074] Optionally, in one embodiment, the lifting mechanism 13 includes a base 131, a Y-axis driving mechanism 122, a lifting guide rod 133 and a lifting transmission assembly 134. Specifically, the base 131 is connected to the Y-axis translation mechanism 12, for example, connected to the Y-axis driving mechanism 122 of the Y-axis translation mechanism 12, the base 131 moves along the Y-axis under the control of the Y-axis translation mechanism 12, and the base 131 is provided with an avoidance gap for the lifting guide rod 133 to be lifted. The lifting drive mechanism 132 includes a fixed end and a driving end, the fixed end of the lifting drive mechanism 132 is mounted on the base 131, and the driving end of the lifting drive mechanism 132 is connected to the lifting guide rod 133 through the lifting transmission assembly 134 and controls the lifting guide rod 133 to move along the Z axis. A manipulator 14 is provided at the bottom of the lifting guide rod 133.

[0075] Optionally, in one embodiment, the lifting drive mechanism 132 uses a lifting motor, and the lifting transmission assembly 134 includes a lifting motor gear and a lifting motor chain, wherein the lifting motor gear is directly connected to the driving shaft of the lifting motor, or is indirectly connected through a gear box to change speed and / or turn, and the lifting motor chain is meshed with the lifting motor gear for transmission, and the upper end and lower end of the lifting motor chain are fixed to the upper part and lower part of the lifting guide rod 133. After the lifting motor is started, it drives the lifting motor gear to rotate, the lifting motor gear is meshed with the lifting motor chain, and the lifting motor chain drives the lifting guide rod 133 to move along the Z axis.

[0076] Optionally, in one embodiment, the lifting mechanism 13 also includes a lifting guide structure to guide the movement of the lifting guide rod 133 along the Z-axis. For example, the lifting guide structure may include a guide wheel pivotally mounted on the Y-axis frame 121 and a slide rail arranged on the lifting guide rod 133, and the guide wheel cooperates with the slide rail for guiding.

[0077] Please refer to Figure 12 to Figure 13 The manipulator 14 of the bagging machine head 1 is arranged at the lower end of the lifting mechanism 13, and the manipulator 14 is used to control the movement of the bag. There are many options for the structure of the manipulator 14, and a manipulator, a hopper, a flap, etc. can be used.

[0078] Optionally, in one embodiment, the manipulator 14 includes a gripper 141 and a rotating mechanism 142. The rotating mechanism 142 is disposed at the bottom end of the lifting mechanism 13, for example, at the bottom end of the lifting guide rod 133; the rotating mechanism 142 is connected to the gripper 141 and controls the gripper 141 to rotate to a preset angle. Specifically, the gripper 141 can open and grab the material bag, and the rotating mechanism 142 can use a motor or other rotary drive element to control the gripper 141 to rotate around a vertical axis to a preset angle, which can be 90 degrees. In this way, after the driving mechanism controls the gripper 141 to rotate 90 degrees, the stacking direction of the material bag can be adjusted so that the material bag can be placed horizontally or vertically to better utilize the space.

[0079] Optionally, in one embodiment, the gripper 141 includes a fixed seat 1411 and a clamping jaw 1412, and correspondingly, the manipulator 14 also includes a telescopic mechanism 143 and a pressing plate 144. Specifically, the fixed seat 1411 is fixed to the driving end of the rotating mechanism 142 and rotates horizontally under the control of the rotating mechanism 142. The clamping jaw 1412 is hinged to the fixed seat 1411 and can be opened and closed; the clamping jaw 1412 can be symmetrically arranged in two groups, and the two groups cooperate to grab the material bag; the bottom of the clamping jaw 1412 can be arranged in an L-shaped structure, and after the two groups of clamping jaws 1412 are closed, the bottom of the two groups of clamping jaws 1412 can both limit the side of the material bag and lift the bottom of the material bag. The telescopic mechanism 143 can use a telescopic element such as a cylinder to control the lifting and lowering of the pressing plate 144; the upper end of the telescopic mechanism 143 is fixedly connected to the fixed seat 1411, and the lower end of the telescopic mechanism 143 is connected to the pressing plate 144. The pressing plate 144 is used to press the top of the material bag, and the pressing plate 144 is located inside the clamping jaws 1412. During operation, the clamping jaws 1412 clamp the two opposite sides of the material bag and lift the bottom of the material bag at the same time. The pressing plate 144 presses the top of the material bag to prevent the material bag from tilting during movement, thereby ensuring that the material bags can be neatly stacked.

[0080] Please refer to Figures 14 to 18 The material dividing mechanism 2 is used to control the two material discharging channels 31 to be alternately connected to the material feeding port 33 of the material feeding mechanism, so that the material packages 6 on the assembly line are divided from one path to two paths to provide material dividing service for the next process. The material dividing mechanism 2 may include a material diverting drive mechanism 22, a material diverting head 21, a material diverting frame 23, and a sensor 4.

[0081] The material-discharging driving mechanism 22 is connected to the material-discharging head 21, and controls the material-discharging head 21 to alternately swing and stop at the first preset position and the second preset position. Swinging and stopping refers to controlling the material-discharging head 21 to swing, and controlling the material-discharging head 21 to stop after the material-discharging head 21 swings into place, so that the material-discharging head 21 stays at the first preset position or the second preset position. The first preset position and the second preset position are determined according to the position of the discharge port of the feeding mechanism 3. For example, the first preset position can be located behind the left edge of the discharge port of the feeding mechanism 3, and the second preset position can be located behind the right edge of the discharge port. There are multiple options for the structure of the material-discharging driving mechanism 22, and it is sufficient to be able to drive the material-discharging head 21 to swing. For example, the material-discharging driving mechanism 22 can adopt a motor; for another example, the material-discharging driving mechanism 22 adopts a telescopic mechanism such as a cylinder or a hydraulic cylinder, and accordingly, a slide rail is provided on the material-discharging head 21, and the end of the telescopic mechanism slides with the slide rail.

[0082] The material diverting head 21 is arranged between the material feeding port 33 of the feeding mechanism and the two material discharging channels 31. More specifically, the material diverting head 21 is located behind the material feeding port 33 of the feeding mechanism and in front of the two material discharging channels 31. The material diverting head 21 can swing left and right under the control of the material diverting driving mechanism 22. After the material diverting head 21 swings and stops, the material diverting head 21 blocks the material feeding port 33 of the feeding mechanism and one material discharging channel 31, and allows the material bag 6 on the transport structure to enter the other material discharging channel 31 from the material feeding port 33 of the feeding mechanism.

[0083] In one embodiment, the material-dispensing head 21 includes a baffle 211, and the baffle 211 includes a relatively distributed left baffle 2111 and a right baffle 2112, and the distance between the left baffle 2111 and the right baffle 2112 gradually increases from front to back. Compared with the plate-shaped or rod-shaped structure of the material-dispensing head 21, the present embodiment adopts a scheme in which the cross section gradually increases from front to back. When the distance between the feed port 33 of the feeding mechanism and the discharge channel 31 is constant, the angle of inclination of the outer wall of the baffle 211 can be increased, so that the material bag 6 can be adjusted to the required movement angle more quickly and enter the corresponding discharge channel 31.

[0084] In another embodiment, in order to optimize the material-dispensing effect of the material-dispensing head 21, the front end of the baffle 211 is arc-shaped. Compared with the sharp-angle structure, the arc shape can avoid the problem of deformation of the material bag 6 due to collision with the front end of the baffle 211. In practical applications, the front end of the left baffle 2111 can be bent toward the right baffle 2112, and the front end of the right baffle 2112 can be bent toward the left baffle 2111 to form the arc structure of the baffle 211.

[0085] In another embodiment, the material-dispensing head 21 further includes a support frame 212, which is disposed between the left baffle 2111 and the right baffle 2112, and is fixedly connected to the left baffle 2111 and / or the right baffle 2112. The support frame 212 and / or the baffle 211 are fixedly connected to the material-dispensing driving mechanism 22, and swing under the control of the material-dispensing driving mechanism 22. Specifically, the support frame 212 supports the left baffle 2111 and the right baffle 2112 to prevent the left baffle 2111 and the right baffle 2112 from being squeezed and deformed by the material bag 6, thereby improving the strength of the left baffle 2111 and the right baffle 2112.

[0086] In another embodiment, there is a preset distance between the front end of the support frame 212 and the front end of the baffle 211, and there is a gap between the front ends of the left baffle 2111 and the right baffle 2112. Specifically, the front ends of the left baffle 2111 and the right baffle 2112 are not supported by the support frame 212, and when squeezed by the material bag 6, the gap provides a certain amount of activity for the baffle 211, thereby playing a role of buffering the material bag 6.

[0087] In another embodiment, the support frame 212 includes a left support frame 2121 and a right support frame 2122, the left support frame 2121 is fixedly connected to the left baffle 2111, and the right support frame 2122 is fixedly connected to the right baffle 2112; at the same time, the support frame 212 is generally in a diamond structure, the distance between the left support frame 2121 and the right support frame 2122 gradually decreases from the middle to the front end, and the distance between the left support frame 2121 and the right support frame 2122 gradually decreases from the middle to the rear end; the rear end of the left support frame 2121 and the rear end of the right support frame 2122 are respectively connected to the material-pickup driving mechanism 22. The support frame 212 with a diamond structure can better support the baffle 211, and is more convenient to be connected and fixed to the material-pickup driving mechanism 22.

[0088] In another embodiment, the support frame 212 further includes a connecting plate 213, one end of the connecting plate 213 is fixed to the left bracket 2121, and the other end is fixed to the right bracket 2122. The connecting plate 213 can further enhance the stability of the left bracket 2121 and the right bracket 2122 to prevent the two from deforming.

[0089] The material-digging frame 23 is mounted above the feeding mechanism 3, the material-digging driving mechanism 22 is installed on the material-digging frame 23, and the material-digging head 21 is arranged above the feeding mechanism 3. The material-digging frame 23 may include legs and a top frame, the material-digging driving mechanism 22 may be specifically arranged on the top frame, and the material-digging head 21 may be arranged below the top frame. The material-digging frame 23 is arranged for the convenience of arranging the material-digging head 21 and the material-digging driving mechanism 22. If the material-digging driving mechanism 22 can be arranged with the help of other components on site, the material-digging frame 23 may be omitted.

[0090] Please refer to Figure 3 The feeding mechanism 3 provided in the present application includes a feeding channel 32 and at least two discharging channels 31. The rear ends of the discharging channels 31 are respectively connected to the front ends of the feeding channels 32, and the front ends of the feeding channels 32 are provided with a feeding port 33 of the feeding mechanism. At the same time, the feeding channel 32 is tilted, and the tilted setting specifically refers to that the height of the feeding channel 32 gradually decreases from front to back. The discharging channel 31 can transport the material bag 6, and the discharging channel 31 is horizontally set, and the horizontal setting refers to that the height of the feeding channel 31 is consistent from front to back.

[0091] Optionally, in one embodiment, the feed channel 32 includes a first driving part and a first supporting part, the first supporting part is used to support the material bag 6, the first driving part is connected to the first supporting part, and controls the operating state of the first supporting part, the operating state includes the moving direction and / or the moving speed and / or start and stop, the moving direction includes forward and reverse, the forward direction here refers to the direction from the feed port of the feed channel 32 to the discharge channel 31, and the reverse direction refers to the direction from the discharge channel 31 to the feed port of the feed channel 32. Specifically, during the operation, when the speed of the material bag 6 entering the feed port of the feed channel 32 is too fast, the first support part can be controlled to move in the forward direction, and the moving speed of the first support part can be adjusted at the same time, so that the moving speed is smaller than the speed of the material bag 6 entering the feed port of the feed channel 32. If the feed port of the feed channel 32 is connected to a conveyor 5, the moving speed of the feed channel 32 can be controlled to be smaller than the running speed of the conveyor 5, thereby slowing down the material bag 6; the feed channel 32 can even be controlled to stop running; and the feed channel 32 can even be moved in the reverse direction to further reduce the speed of the material bag 6, slow down the material bag 6, and play a buffering role.

[0092] Optionally, in one embodiment, the first support portion includes a conveyor belt and a transmission roller, and the first drive portion includes a motor, the drive shaft of the motor is connected to the transmission roller through a transmission chain or a synchronous belt, and controls the rotation of the transmission roller. In order to prevent the material bag 6 from falling, baffles can be provided on both sides of the first support portion. It is understandable that in other embodiments, the first drive portion and the first support portion can also adopt other structures in the prior art, as long as they can transport the material bag 6.

[0093] Optionally, in one embodiment, the feeding mechanism 3 further includes a detection device. The detection device is used to detect the moving speed of the material bag 6 located on the first support part. The structure and working principle of the detection device can refer to the speed meter in the prior art. The first drive part and the detection device are electrically connected to the controller respectively, and the controller is used to control the action of the first drive part according to the detection result of the detection device to adjust the operating state of the first support part. Specifically, in this embodiment, it refers to the detection device, so that the feeding mechanism 3 can adjust the operating state of the first support part according to the state of the material bag 6, so that the first support part can better cooperate with the material bag 6 to achieve the effect of deceleration and buffering.

[0094] Optionally, in one embodiment, there are two discharge channels 31, one on the left and the other on the right. One end of each discharge channel 31 is connected to the feed channel 32, and each discharge channel 31 is provided with a discharge port at the end away from the feed channel 32; accordingly, the material dividing mechanism 2 guides the material bag 6 and allows the material bag 6 to enter one of the discharge channels 31 from the feed channel 32. Specifically, the material dividing mechanism 2 can be arranged in the middle of the feed channel 32, or between the feed channel 32 and the discharge channel 31. The material dividing mechanism 2 can divide the material bag 6 in the feed channel 32 to the left, so that the material bag 6 enters the discharge channel 31 on the left; it can also divide the material bag 6 in the feed channel 32 to the right, so that the material bag 6 enters the discharge channel 31 on the right, so that the two discharge channels 31 transport the material bag 6 separately.

[0095] Optionally, in one embodiment, each discharge channel 31 includes a second driving part and a second supporting part, the second driving part is connected to the second supporting part, and controls the movement of the second supporting part; the second supporting part is used to support the material bag 6. Specifically, the two discharge channels 31 can work independently, and when the rear bagging machine head 1 is in a working state, the material bag 6 can be temporarily stored in the left discharge channel 31 and / or the right discharge channel 31 to achieve hierarchical control and play a role in pressure buffering of the bagging machine head 1.

[0096] Optionally, in one embodiment, the structures of the second driving part and the second supporting part may have multiple options, for example, the second supporting part may include a conveyor belt and a transmission roller, the second driving part may include a motor, the driving shaft of the motor is connected to the transmission roller through a transmission chain, and the transmission roller is controlled to rotate, and the rotation of the transmission roller drives the conveyor belt to move. In order to prevent the material bag 6 from falling, baffles may be provided on both sides of the conveyor belt. It is understandable that in other embodiments, the second driving part and the second supporting part may also adopt other structures in the prior art, as long as the material bag 6 can be transported.

[0097] Optionally, in one embodiment, the automatic loading machine assembly may further include a conveyor 5, the discharge port of the conveyor 5 being connected to the feed port of the feed channel 32, so that the material bag 6 is moved from the conveyor 5 to the feed channel 32. The conveyor 5 may also be tilted, and its tilt angle may be consistent with that of the feed channel 32, or may be different.

[0098] Furthermore, in one embodiment, the automatic loading machine assembly may be equipped with sensors to implement control of various mechanisms.

[0099] Please refer to Fig.19Taking the preset stacking area as a carriage as an example, first the driver swipes a card or inputs the number of bagged material packages 6 to be loaded, and the system stores the number in the system. At this time, the system will give an instruction detection system to effectively measure the length, width, height and obstacles of the carriage. According to the number to be loaded and the volume and bottom area of ​​the vehicle detected by the system, the quotient of the total number of loaded packages and the bottom area of ​​the carriage is equal to the number of loading layers. The system will calculate the number of loaded packages, the length, width and height of the bagged material packages 6, how many packages are loaded on each layer and how many layers the vehicle can load. Whether horizontal packaging or vertical packaging or horizontal and vertical mixed loading is used to maximize the use of the bottom area of ​​the carriage, the system will automatically calculate the location point for each package.

[0100] The first sensor 71 is installed on the conveyor 5. When the material bag 6 passes through a specific position of the conveyor 5, the first sensor 71 is triggered, and the motor of the feed channel 32 is started to rotate forward. At this time, the material head 21 of the material distribution mechanism 2 is in the right position to guide the material to the left, and the material bag 6 enters the left discharge channel 31. When the material bag 6 passes the left side of the feed channel 32, the second sensor 72 is triggered, and the motor of the left discharge channel 31 is started to rotate forward to send the material bag 6 to the left feeding and stopping mechanism 4. When the third sensor 73 is triggered, the motor of the left feeding and stopping mechanism 4 is started to rotate forward. When the fourth sensor 74 is triggered, the material bag 6 reaches the specified position. The motor of the left feeding and stopping mechanism 4 stops. The manipulator 4 is started to stack the material bag 6; or before stacking, the rotating mechanism 42 rotates 90 degrees or other angles, and then stacks the material bag 6.

[0101] When the next material bag 6 passes through the specific position of the conveyor 5, the first sensor 71 is triggered, and the motor of the feed channel 32 is started to rotate forward. At this time, the material head 21 of the material dividing mechanism 2 is on the left and guides the material to the right, so that the material bag 6 enters the right discharge channel 31. When the material bag 6 passes the right side of the feed channel 32, the fifth sensor 75 is triggered, and the motor of the right discharge channel 31 is started to rotate forward to send the material bag 6 to the right feeding and stopping mechanism 4. When the sixth sensor 76 is triggered, the motor of the right feeding and stopping mechanism 4 is started to rotate forward. When the seventh sensor 77 is triggered, the material bag 6 reaches the specified position. The motor of the right feeding and stopping mechanism 4 stops. The manipulator 4 is started to stack the material bag 6; or before stacking, the rotating mechanism 42 rotates 90 degrees or other angles, and then stacks the material bag 6.

[0102] The two manipulators 4 can stack the packages from both ends to the middle. When a row of packages 6 is stacked, the automatic loader assembly can be controlled to move to the next row as a whole to complete the stacking of the second or nth row. When the first layer is stacked, the automatic loader assembly will retreat as a whole, and the automatic loader assembly will rise one or several layers to stack the second or nth layer, until the number of goods picked up by the vehicle is loaded, that is, the loading is completed.

[0103] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0104] The above is a detailed introduction to the automatic loading machine assembly provided by the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core ideas of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. An automatic loading machine assembly, characterized in that: include: A feeding mechanism (3), used for controlling the material bag (6) to move from front to back, comprising a feeding mechanism feed port (33) and at least two discharge channels (31); A material distribution mechanism (2) is arranged above the feeding mechanism (3) and is used to control the current discharge channel to be connected with the feeding port (33) of the feeding mechanism, and to block the discharge channel to be processed from the feeding port (33) of the feeding mechanism; A bag stacking machine head (1) is used to stack the material bags (6) at the material discharge channel (31) in a preset stacking area; the bag stacking machine head (1) comprises stacking devices corresponding to the material discharge channels (31) one by one, each of the stacking devices comprises a three-axis driving mechanism and a manipulator (14), the three-axis driving mechanism is connected to the manipulator (14) to control the manipulator (14) to move in an XYZ three-dimensional space; A controller, wherein the feeding mechanism (3), the material dividing mechanism (2), and the bagging machine head (1) are electrically connected to the controller respectively; It also includes a feeding and stopping mechanism (4) corresponding to the discharge channel (31) one by one and used for temporarily storing the material bag (6), each of the feeding and stopping mechanisms (4) includes a conveying part and a driving part, the driving part is connected to the conveying part and controls the start and stop of the conveying part, and the feeding port of the conveying part is connected to the corresponding discharge channel (31); It also includes a space detection device for detecting the length, width and height of the preset stacking area, the space detection device is electrically connected to the controller, and the controller is used to control the action process of the three-axis driving mechanism according to the detection result of the space detection device and the preset material package specifications; The manipulator (14) comprises a gripper (141), a telescopic mechanism (143) and a pressing plate (144) for pressing the top of the material bag (6); the gripper (141) comprises a fixed seat (1411) and an openable and closable clamping jaw (1412); the upper end of the telescopic mechanism (143) is fixedly connected to the fixed seat (1411), the lower end of the telescopic mechanism (143) is connected to the pressing plate (144), and the pressing plate (144) is located inside the clamping jaw (1412); The material distribution mechanism (2) comprises: A material shifting head (21) is located behind the material feeding port (33) of the material feeding mechanism and in front of the material discharging channel (31); It comprises a left baffle (2111) and a right baffle (2112) which are relatively distributed, and the distance between the left baffle (2111) and the right baffle (2112) gradually increases from front to back; A material-dispensing driving mechanism (22) is connected to the material-dispensing head (21) and controls the material-dispensing head (21) to alternately stop at a first preset position and a second preset position; The material shifting head (21) further comprises a support frame (212) arranged between the left baffle plate (2111) and the right baffle plate (2112); the support frame (212) is fixedly connected to the left baffle plate (2111) and / or the right baffle plate (2112); a front end of the support frame (212) is at a preset distance from a front end of the left baffle plate (2111) and / or the right baffle plate (2112); and a gap is provided between a front end of the left baffle plate (2111) and a front end of the right baffle plate (2112).

2. The automatic loading machine assembly according to claim 1, characterized in that: The three-axis driving mechanism comprises: A lifting mechanism (13), movable along the Z axis, connected to the manipulator (14); The Y-axis translation mechanism (12) comprises a Y-axis frame (121) and a Y-axis driving mechanism (122), wherein the Y-axis frame (121) is in a rectangular frame structure, the lifting mechanism (13) is arranged inside the Y-axis frame (121), and the Y-axis driving mechanism (122) is connected to the lifting mechanism (13) and controls the lifting mechanism (13) to move along the Y-axis; The X-axis translation mechanism (11) comprises an X-axis frame (111) and an X-axis driving mechanism (112); the X-axis frame (111) is in a rectangular frame structure; the Y-axis frame (121) is arranged inside the X-axis frame (111); and the X-axis driving mechanism (112) is connected to the Y-axis frame (121) and controls the Y-axis frame (121) to move along the X-axis.

3. The automatic loading machine assembly according to claim 2, characterized in that: The lifting mechanism (13) comprises a base (131), a lifting drive mechanism (132) and a lifting guide rod (133); the base (131) is arranged inside the Y-axis frame (121); the lifting drive mechanism (132) is arranged on the base (131); the driving end of the lifting drive mechanism (132) is connected to the lifting guide rod (133) through a lifting transmission assembly (134) and controls the lifting guide rod (133) to move along the Z axis; the base (131) is provided with an avoidance gap for the lifting guide rod (133) to be lifted; the manipulator (14) is arranged at the bottom of the lifting guide rod (133); the Y-axis drive mechanism (122) is connected to the base (131) and controls the base (131) to move along the Y axis.

4. The automatic loading machine assembly according to claim 1, characterized in that: The feeding mechanism (3) comprises a feeding channel (32), the inlet of each of the discharging channels (31) is connected to the outlet of the feeding channel (32), each of the discharging channels (31) is arranged horizontally, and the feeding channel (32) is arranged inclined, and the height of the feeding channel (32) gradually decreases from front to back.

5. The automatic loading machine assembly according to claim 4, characterized in that: Each of the feed channels (32) comprises a first driving part and a first supporting part for placing a material bag (6), wherein the first driving part is connected to the first supporting part and controls the operating state of the first supporting part, wherein the operating state comprises one or more of a moving direction, a moving speed, a start and a stop.

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