Automatic loading system and its application

Abstract

The present invention discloses an automatic loading system and its application, wherein the automatic loading system comprises a supporting guide rail, a mobile lifting platform, a conveying and stacking device and a lifting and stacking device; the mobile lifting platform is installed on the supporting guide rail, the mobile lifting platform comprises a lifting platform and a mobile bracket, two mobile brackets are symmetrically arranged at the bottom of the lifting platform, and the mobile bracket is slidably arranged on the supporting guide rail; the conveying and stacking device and the lifting and stacking device are both installed on the mobile lifting platform; the conveying and stacking device comprises a conveying section and a conveying and stacking device lifting section, the conveying section conveys the objects to be transported on the loading lane to the conveying and stacking device lifting section for stacking; the lifting and stacking device comprises a driving assembly and a stacking fork, the driving assembly is used to drive the stacking fork to lift vertically, move horizontally and rotate, and the stacking fork is used to transport the objects to be transported after stacking to a transport vehicle. The present invention solves the problem that the existing loading equipment causes large secondary dust and easy rotten bags during the loading process.

Description

Technical Field

[0001] The present invention relates to the technical field of automated loading equipment, and in particular to an automated loading system and applications thereof. Background Art

[0002] At present, the production and packaging of bagged cement have basically been automated, but its transportation and loading are mostly semi-automated with manual assistance, which is labor-intensive, with serious dust on site, and environmental protection standards that do not meet the standards, causing great harm to the health of workers. For this reason, companies need to pay high manual loading costs every year, resulting in excessively high production costs and reduced competitiveness. In addition, with the improvement of people's quality of life and the strict implementation of safety production and occupational health regulations, cement production companies have gradually faced a situation where they cannot recruit loading workers even with high salaries. Developing efficient, reliable, and dust-proof automatic loading equipment to realize the automation and intelligent loading of bagged cement is an effective means for cement production companies to reduce costs, increase efficiency, and enhance corporate competitiveness in the future, and it is also the only way to achieve "intelligent manufacturing" in the cement industry.

[0003] Foreign countries started research on automated loading equipment early, and have developed a variety of automatic loaders, which have worked well in actual use. However, due to the large number of domestic transport models, the imported automatic loading equipment has poor adaptability and low equipment utilization. At present, domestic automatic loading machines for bagged cement mainly adopt the "drop bag" method (Chinese patent "Bagged Material Loading Machine" patent application number: 201610633614.2), and also adopt the "drawing plate" method (Chinese patent "A Bagged Cement Automatic Stacking Loading Machine" patent application number: 201821829949.2), robot "grabbing" stacking method, etc. These methods can realize the automatic loading of bagged cement without manual assistance.

[0004] The existing loading equipment has the following defects:

[0005] 1) The secondary dust is large during the loading process, causing serious pollution; 2) There are cases of rotten bags during the loading process; 3) The equipment has poor dust prevention effect, serious component wear and low reliability; 4) Poor self-adaptation ability and high requirements for parking space; 5) The existing cement truck plant needs to be renovated. Summary of the invention

[0006] The purpose of the present invention is to provide an automatic loading system to solve the problems of large secondary dust and easy bag rot during the loading process caused by existing loading equipment.

[0007] In addition, the present invention also provides application of the automatic loading system.

[0008] The present invention is achieved through the following technical solutions:

[0009] Automatic loading system, support rails, mobile lifting platform, conveying and stacking device and lifting and stacking device;

[0010] The mobile lifting platform is installed on the support rail and can move on the support rail; the mobile lifting platform includes a lifting platform and a moving bracket, and two moving brackets are symmetrically arranged at the bottom of the lifting platform, and the two moving brackets are respectively slidably arranged on the two support rails;

[0011] The conveying and stacking device and the lifting and stacking device are both installed on a mobile lifting platform;

[0012] The conveying and stacking device comprises a conveying section and a conveying and stacking device lifting section. The input end of the conveying section cooperates with the loading lane. The conveying section conveys the objects to be conveyed on the loading lane to the conveying and stacking device lifting section for stacking.

[0013] The lifting and stacking device comprises a driving assembly and a stacking fork. The driving assembly is used to drive the stacking fork to vertically lift, horizontally move and rotate. The stacking fork is used to transport the objects to be transported after stacking to the transport vehicle. The entire loading process is gravity-free and secondary dust can be avoided.

[0014] In the present invention, each component is automatically controlled.

[0015] The support guide rail of the present invention is installed on the ground of the tunnel and serves as the base of the entire automatic loading system, and the mobile lifting platform moves horizontally thereon; the mobile lifting platform is used to realize the height adjustment of the conveying and stacking device and the lifting and stacking device in the vertical direction, the conveying and stacking device is used to transport cement bags (objects to be transported) and arrange the cement bags into stacks as required, and the lifting and stacking device is used to lift the arranged cement bags and put them into the car box.

[0016] The present invention can realize automatic transportation, stacking and loading of cement bags by arranging mutually matching mobile lifting platforms, conveying and stacking devices and lifting and stacking devices, and can avoid secondary dust and bag rot caused by cement bags under the action of gravity.

[0017] Furthermore, the lifting platform includes a platform top, the bottom of which is connected to the movable bracket via a lifting platform scissor fork mechanism, and the driving mechanism of the platform top includes a hydraulic cylinder drive, a pneumatic cylinder drive, an electric push rod, a hydraulic push rod, an electromagnetic switch or a spring mechanism.

[0018] Furthermore, a touch sensor device is provided on the lower end surface of the platform top, and the touch sensor device is communicatively connected to the control system, and the driving mechanism of the platform top is communicatively connected to the control system.

[0019] Furthermore, the sliding mode of the movable bracket on the supporting guide rail includes roller slide rail drive or gear rack drive.

[0020] Furthermore, the conveying section includes a fixed section of the conveying and stacking device, a front conveying belt, a steel frame platform and a movable slope conveyor;

[0021] The fixed section of the conveying and stacking device includes a slope conveyor, a linear conveyor and a curved conveyor installed on a steel frame platform. The input end of the slope conveyor cooperates with the output end of the front conveyor belt. The input end of the front conveyor belt is located at the top of the loading lane. The output end of the slope conveyor is connected to the input end of the movable slope conveyor through multiple linear conveyors and multiple curved conveyors. The steel frame platform is fixedly connected to the mobile bracket.

[0022] The lifting section of the conveying and stacking device is installed on a mobile lifting platform; the lifting section of the conveying and stacking device includes a material bag steering conveyor, a roller conveyor, a stacking conveyor, a bag pushing mechanism, and a bag blocking mechanism;

[0023] The input end of the material bag steering conveyor cooperates with the output end of the movable slope conveyor, the output end of the material bag steering conveyor cooperates with the input end of the roller conveyor, the stacking conveyor is arranged in the vertical direction of the transmission direction of the roller conveyor, one end of the stacking conveyor cooperates with the roller conveyor, and the other end is provided with a bag blocking mechanism; the bag pushing mechanism is arranged above the roller conveyor, and is used to push the objects to be conveyed onto the stacking conveyor.

[0024] Further, the material bag steering conveyor includes a belt conveyor, a counting device and a material bag steering mechanism;

[0025] The input end and output end of the belt conveyor are respectively matched with the output end of the movable slope conveyor and the input end of the roller conveyor; the counting device is arranged above the input end of the belt conveyor;

[0026] The material bag steering mechanism includes a bracket, a baffle pushing mechanism, a movable baffle, and a fixed baffle;

[0027] The fixed stop block is arranged above one side of the belt conveyor, the movable baffle is installed on the belt conveyor, there is a certain distance between the fixed stop block and the movable baffle, and the baffle pushing mechanism is installed between the bracket and the movable baffle, and the posture direction of the object to be conveyed on the belt conveyor is adjusted by the movable baffle and the fixed stop block.

[0028] The bag diverting conveyor can change the vertical transportation of cement bags into horizontal transportation.

[0029] Further, the lifting and stacking device includes a column, a driving assembly and a stacking fork, and the driving assembly includes an X-axis, a Z-axis, a Y-axis and a C-axis;

[0030] The column is installed on the mobile lifting platform, the X-axis is installed on the column, the X-axis includes a supporting beam, the supporting beam is arranged on the top of the column, and a palletizing device X-direction horizontal sliding mechanism is arranged on the supporting beam. The Z-axis is installed on the palletizing device X-direction horizontal sliding mechanism through a connecting frame, the Z-axis includes a mounting frame, a vertical axis and a palletizing device vertical sliding mechanism, one end of the vertical axis is installed on the palletizing device vertical sliding mechanism, the palletizing device vertical sliding mechanism is installed on the mounting frame, and the bottom of the mounting frame is installed on the connecting frame; the Y-axis includes a supporting plate and a palletizing device Y-direction horizontal sliding mechanism, the supporting plate is installed at the bottom of the vertical axis, the palletizing device Y-direction horizontal sliding mechanism is installed on the supporting plate, one end of the C-axis is installed on the palletizing device Y-direction horizontal sliding mechanism, and the other end is connected to the palletizing fork through a slewing bearing.

[0031] Furthermore, the lifting and stacking device also includes a stacking blocking mechanism;

[0032] The stack blocking mechanisms are provided with two, and the two stack blocking mechanisms are respectively arranged on both sides of the Y axis. The stack blocking mechanisms include stack blocking baffles, and the stack blocking baffles are moved up and down by a baffle driving mechanism, and the baffle driving mechanism is installed on the support plate.

[0033] Furthermore, it also includes a vehicle information detection device;

[0034] The vehicle information detection device includes a mounting bracket, a vehicle detection linear module, a laser ranging sensor and an adapter plate;

[0035] The mounting bracket is mounted on the lifting platform, the adapter plate is mounted on the mounting bracket, the vehicle detection linear module is mounted on the adapter plate, and the laser ranging sensor is mounted on the vehicle detection linear module.

[0036] The vehicle information detection device can be used to detect vehicle offset, vehicle box size and other information

[0037] The application of the automatic loading system is used for automatically loading materials, and the materials include cement bags.

[0038] It can also be used for palletizing and loading other bagged or boxed materials.

[0039] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0040] 1. The present invention can arrange the cement bags to be transported into neat stacks according to predetermined rules, so that the cement bags can be always transferred smoothly without forming a gravity drop, thereby avoiding secondary dust and bag rot.

[0041] 2. The present invention can complete the fully automated loading of bagged cement and avoid large-scale transformation of the existing cement plant loading lanes.

[0042] 3. During the loading process, the present invention can detect the parking position and the size of the vehicle online, can move along the width of the vehicle to adapt to the offset of the parking center axis, and can complete the loading of cement bags without opening the vehicle body panels and rear doors. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of the embodiments of the present invention, constitute a part of this application, and do not constitute a limitation of the embodiments of the present invention. In the drawings:

[0044] Figure 1 It is a schematic diagram of the installation position of the present invention;

[0045] Figure 2 It is a schematic diagram of the overall structure of the present invention;

[0046] Figure 3 is a schematic diagram of the support rail of the present invention;

[0047] Figure 4 is a schematic diagram of a mobile lifting platform of the present invention;

[0048] Figure 5 It is a schematic diagram of the conveying and stacking device of the present invention;

[0049] Figure 6 is a schematic diagram of a material bag turning conveyor of the present invention;

[0050] Figure 7 It is a schematic diagram of the package pushing mechanism of the present invention;

[0051] Figure 8 It is a schematic diagram of the bag blocking mechanism of the present invention;

[0052] Fig. 9 It is an overall schematic diagram of the lifting and stacking device of the present invention;

[0053] Fig.10 It is a schematic diagram of the X-axis of the lifting and stacking device of the present invention;

[0054] Fig.11 It is a schematic diagram of the Z axis of the lifting and stacking device of the present invention;

[0055] Fig.12 It is a schematic diagram of the Y-axis, C-axis and stacking fork of the lifting and stacking device of the present invention;

[0056] Fig.13 It is a schematic diagram of a vehicle information detection device of the present invention.

[0057] Marks and corresponding parts names in the attached drawings:

[0058] 1- loading lane, 2- support rail, 3- mobile lifting platform, 4- conveying and stacking device, 5- lifting and stacking device, 6- control cabinet, 7- vehicle information detection device; 21- track steel, 22- support I-beam, 23- guide rail column, 24- welding block, 25- anchor flange bolt; 31- lifting platform, 311- lifting platform scissor fork mechanism, 312- hydraulic cylinder, 313- platform table, 314- touch sensor device, 32- mobile bracket, 321- steel frame, 322- roller, 41- conveying and stacking device fixed section, 411- slope conveyor, 412- Straight conveyor, 413-curve conveyor, 42-conveying and stacking device lifting section, 421-material bag steering conveyor, 4211-belt conveyor, 4212-counting device, 4213-material bag steering mechanism, 42131-bracket, 42132-baffle pushing mechanism, 42133-movable baffle, 42134-fixed baffle, 422-roller conveyor, 423-stacking conveyor, 424-pushing mechanism, 4241-base frame, 4242-pushing cylinder, 4243-lifting cylinder, 4244-fluent strip, 4245-pushing baffle, 425- Bag blocking mechanism, 4251-mounting frame, 4252-driving screw, 4253-sliding guide rail, 4254-bag blocking baffle, 4255-reduction motor, 43-front conveyor belt, 44-steel frame platform, 45-movable slope conveyor, 51-column, 511-adjusting bolt, 52-X axis, 521-supporting beam, 522-first rack, 523-first gear, 524-moving slide rail, 525-first servo motor, 526-first dual-output reducer, 527-connecting frame, 53-Z axis, 531-mounting frame, 532-second rack, 533 -Second gear, 534-vertical moving slide rail, 535-second servo motor, 536-second dual-output reducer, 537-connecting plate, 538-vertical axis, 54-Y axis, 541-support plate, 542-Y axis linear module, 543-third servo motor, 544-moving slider, 55-C axis, 551-fourth servo motor, 552-slewing bearing, 56-stacking mechanism, 561-guide rod cylinder, 562-stacking baffle, 57-stacking fork, 71-mounting bracket, 72-vehicle detection linear module, 73-laser ranging sensor, 74-adapter plate. DETAILED DESCRIPTION

[0059] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0060] Embodiment 1:

[0061] like Figure 1-Figure 13As shown, the automatic loading system includes a support rail 2, a movable lifting platform 3, a conveying and stacking device 4 and a lifting and stacking device 5;

[0062] The mobile lifting platform 3 is installed on the support rail 2 and can move on the support rail 2; the mobile lifting platform 3 includes a lifting platform 31 and a moving bracket 32, and two moving brackets 32 are symmetrically arranged at the bottom of the lifting platform 31, and the two moving brackets 32 are respectively slidably arranged on the two support rails 2;

[0063] The conveying and stacking device 4 and the lifting and stacking device 5 are both installed on the mobile lifting platform 3;

[0064] The conveying and stacking device 4 includes a conveying section and a conveying and stacking device lifting section 42. The input end of the conveying section cooperates with the loading lane 1. The conveying section conveys the objects to be conveyed on the loading lane 1 to the conveying and stacking device lifting section 42 for stacking.

[0065] The lifting and stacking device 5 includes a driving assembly and a stacking fork 57. The driving assembly is used to drive the stacking fork 57 to vertically lift, horizontally move and rotate. The stacking fork 57 is used to transport the stacked objects to be transported to the transport vehicle.

[0066] In this embodiment, the support rail 2 is installed on the ground of the lane as the base of the entire automatic loader, and the mobile lifting platform 3 moves horizontally thereon. The mobile lifting platform 3 is equipped with a conveying and stacking device 4, a lifting and stacking device 5, a vehicle information detection device 7, a control cabinet 6, etc., and is carried by the mobile lifting platform 3 to perform vertical lifting and horizontal movements, wherein the conveying and stacking device 4 is used to transport cement bags and arrange the stacks as required, and the lifting and stacking device 5 is used to lift the arranged cement bags and put them into the car box. When in use, the automatic loading system is installed in the loading lane 1 of the factory area.

[0067] In this embodiment, the support rail 2 is composed of a track steel 21, a support I-beam 22, a column 23, etc., and adopts a double track form, which is distributed on the left and right sides. The track steel 21 and the support I-beam 22 are fixed by welding a pressure block 24, and the support I-beam 22 is evenly distributed with guide rail columns 23 fixed to the ground, and can be adjusted in height by anchor flange bolts 25 to adapt to the unevenness of the ground.

[0068] In this embodiment, the lifting platform 31 includes a platform surface 313 , and the bottom of the platform surface 313 is connected to the moving bracket 32 ​​via a lifting platform scissor fork mechanism 311 .

[0069] The lifting platform 31 adopts a hydraulically driven scissor fork structure 311, which is synchronously controlled by four hydraulic cylinders 312 to achieve stable lifting of the platform table 313. A touch sensor device 314 is arranged below the platform table 313, and the touch sensor device 314 is connected to the control system in communication. The control system is installed in the control cabinet 6, and the control cabinet 6 is located on the mobile lifting platform 3 to realize the control of the entire loading process of the automatic loading system. The driving mechanism of the platform table 313 is connected to the control system in communication. During the descent of the lifting platform 31, when the touch sensor device 314 contacts the side panels of the vehicle box, the control system receives the feedback signal and controls the lifting platform 31 to stop descending. There is no horizontal tie beam below the platform table 313 to facilitate the passage of vehicles.

[0070] The mobile bracket 32 ​​is composed of a steel frame 321 and a roller 322, and is driven synchronously by two groups of servo motors to achieve accurate positioning during movement. In order to improve movement accuracy, the sliding mode of the mobile bracket 32 ​​on the support rail 2 can also be driven by a rack and pinion.

[0071] In this embodiment, the conveying section includes a conveying and stacking device fixed section 41, a front conveying belt 43, a steel frame platform 44 and a movable slope conveyor 45;

[0072] The fixed section 41 of the conveying and stacking device includes a slope conveyor 411, a linear conveyor 412 and a turning conveyor 413 installed on a steel frame platform 44. The input end of the slope conveyor 411 cooperates with the output end of the front conveying belt 43, and the input end of the front conveying belt 43 cooperates with the loading lane 1. The output end of the slope conveyor 411 is connected to the input end of the movable slope conveyor 45 through multiple linear conveyors 412 and multiple turning conveyors 413. The steel frame platform 44 is fixedly connected to the movable bracket 32.

[0073] The conveying and stacking device lifting section 42 is installed on the mobile lifting platform 3, and can move horizontally and lift with the mobile lifting platform 3; the conveying and stacking device lifting section 42 includes a bag turning conveyor 421, a roller conveyor 422, a stacking conveyor 423, a bag pushing mechanism 424, and a bag blocking mechanism 425;

[0074] The input end of the material bag steering conveyor 421 cooperates with the output end of the movable slope conveyor 45, and the output end of the material bag steering conveyor 421 cooperates with the input end of the roller conveyor 422. The stacking conveyor 423 is arranged in a vertical direction of the transmission direction of the roller conveyor 422. One end of the stacking conveyor 423 cooperates with the roller conveyor 422, and the other end is provided with a bag blocking mechanism 425; the bag pushing mechanism 424 is arranged above the roller conveyor 422, and is used to push the objects to be conveyed onto the stacking conveyor 423.

[0075] The material bag steering conveyor 421 includes a belt conveyor 4211, a counting device 4212 and a material bag steering mechanism 4213;

[0076] The input end and output end of the belt conveyor 4211 cooperate with the output end of the movable slope conveyor 45 and the input end of the roller conveyor 422 respectively; the counting device 4212 is arranged above the input end of the belt conveyor 4211;

[0077] The material bag steering mechanism 4213 includes a bracket 42131, a baffle pushing mechanism 42132, a movable baffle 42133, and a fixed block 42134. The material bag steering mechanism 4213 can change the vertical transmission of cement bags into horizontal transmission. The specific process is as follows:

[0078] When the vertically transported material bag passes through the steering mechanism 4213, the control system controls the baffle pushing mechanism 42132 to push the movable baffle 42133 forward according to the feedback signal of the counting device 4212, thereby changing the movement trajectory of the vertically transported material bag, so that the vertically transported material bag contacts the fixed stopper 42134, and the material bag transmission posture changes to the horizontal direction;

[0079] The bag pushing mechanism 424 includes a base frame 4241, a bag pushing cylinder 4242, a lifting cylinder 4243, a smooth strip 4244 and a bag pushing baffle 4245. The base frame 4241 is installed under the rollers of the roller conveyor 422 and is connected to the line body of the roller conveyor 422. The bag pushing cylinder 4242 is fixed on the side plate of the base frame 4241. The lifting cylinder 4243 is fixed on the crossbeam of the base frame 4241. The smooth strip 4244 is installed on the front end of the piston rod of the lifting cylinder 4243. The bag pushing baffle 4245 is installed on the front end of the piston rod of the bag pushing cylinder 4242. The bag pushing mechanism 424 is located on the roller conveyor 422 and is used to push the cement bags transferred to the roller conveyor 422 to the stacking conveyor 423.

[0080] The bag blocking mechanism 425 is located at the end of the stacking conveyor 423, and the bag blocking mechanism 425 includes a mounting frame 4251, a transmission screw 4252, a sliding guide rail 4253, a bag blocking baffle 4254 and a reduction motor 4255. The sliding guide rail 4253 is arranged on the top of the mounting frame 4251, and the bag blocking baffle 4254 is slidably arranged in the sliding guide rail 4253. The bag blocking baffle 4254 is pushed by the transmission screw 4252, and one end of the transmission screw 4252 is connected to the output end of the reduction motor 4255. The bag blocking baffle 4254 can move along the transmission direction of the stacking conveyor 423 to realize the arrangement of stacks of different widths.

[0081] The movable slope conveyor 45 between the fixed section 41 and the lifting section 42 of the conveying and stacking device is connected to the lifting section conveyor and the fixed section conveyor through a rotating pair and a moving pair respectively to adapt to the lifting movement of the lifting section.

[0082] In this embodiment, the lifting and stacking device 5 adopts a truss structure, and the lifting and stacking device 5 includes a column 51, a driving assembly and a stacking fork 57. The driving assembly includes an X-axis 52, a Z-axis 53, a Y-axis 54 and a C-axis 55; it is mainly used to load the arranged cement packages into the car box. When the cement packages are arranged on the stacking conveyor of the conveying and stacking device according to the established rules, the Y-axis 54 and the Z-axis 53 of the lifting and stacking device are linked to lift the cement packages from the stacking conveyor 423, and the Z-axis 53 of the lifting and stacking device is lowered to the inside of the car box with the stacking fork 57. The stacking blocking mechanism 56 on the Y-axis 54 extends to block the cement packages, and the stacking fork 57 is moved back and pulled out to load the cement packages into the car box. The entire loading process is gravity-free and can avoid secondary dust. The lifting and stacking device 5 has five degrees of freedom and can adapt to the left and right position deviation when the vehicle is parked. There is no need to open the side panels and rear door of the car box during the loading process.

[0083] The column 51 is located on the platform surface 313 of the mobile lifting platform 3 and is the load-bearing base of the entire lifting and stacking device 5. An adjusting bolt 511 is designed at the bottom flange of the column 51 to level the entire lifting and stacking device.

[0084] The X-axis 52 is installed on the column 51, and can drive the Z-axis 53, the Y-axis 54, the C-axis 55 and the stacking fork 57 to move horizontally left and right:

[0085] The X-axis 52 includes a supporting beam 521, which is arranged on the top of the column 51. A palletizing device X-direction horizontal sliding mechanism is arranged on the supporting beam 521. The palletizing device X-direction horizontal sliding mechanism includes a first rack 522, a first gear 523, a movable slide rail 524, a first servo motor 525 and a first double-output reducer 526. The first rack 522 and the movable slide rail 524 are installed on the supporting beam 521. Two groups of first gears 523, a first servo motor 525 and a first double-output reducer 526 are installed on the connecting frame 527. The first servo motor 525 drives the first double-output reducer 526 to drive the left and right groups of first gears 523 and the first rack 522 to perform left and right horizontal movements.

[0086] The Z axis 53 is installed on the horizontal sliding mechanism of the stacking device in the X direction through the connecting frame 527, and can drive the Y axis 54 and the stacking fork 57 to perform lifting and lowering movements. The Z axis 53 includes a mounting frame 531, a vertical axis 538 and a vertical sliding mechanism of the stacking device. The vertical sliding mechanism of the stacking device includes a second rack 532, a second gear 533, a vertical movable slide rail 534, a second servo motor 535, a second dual-output reducer 536 and a connecting plate 537. The second rack 532 and the vertical movable slide rail 534 is fixed on the mounting frame 531, the second gear 533, the second servo motor 535, the second dual-output reducer 536, and the vertical shaft 538 are mounted on the connecting plate 537, and the second servo motor 535 drives the second dual-output reducer 536 to drive the left and right sets of second gears 533 and the second rack 532 to perform vertical lifting movement, thereby realizing the lifting movement of the Z axis 53; the upper end of the vertical shaft 538 is mounted on the lower end of the connecting plate 537, and the bottom of the mounting frame 531 is mounted on the connecting frame 527;

[0087] Among them, the Y-axis 54 includes a support plate 541 and a horizontal sliding mechanism in the Y direction of the stacking device. The support plate 541 is installed at the bottom of the vertical axis 538. The horizontal sliding mechanism in the Y direction of the stacking device includes a Y-axis linear module 542, a third servo motor 543 and a moving slider 544. The linear module 542 and the third servo motor 543 are installed on the support plate 541. The moving slider 544 moves on the Y-axis linear module 542, thereby driving the C-axis 55 and the stacking fork 57 to move horizontally back and forth.

[0088] Among them, the C-axis 55 is located on the moving slider 544 of the Y-axis 54, and includes a fourth servo motor 551 and a slewing bearing 552. The end of the C-axis 55 is connected to the stacking fork 57 through the slewing bearing 552. The fourth servo motor 551 drives the slewing bearing 552 to drive the stacking fork 57 to rotate around the Z-axis 53.

[0089] Installed on the support plate 541 , one end of the C-axis 55 is installed on the Y-direction horizontal sliding mechanism of the stacking device, and the other end is connected to the stacking fork 57 through a slewing bearing 552 .

[0090] In this embodiment, the lifting and stacking device 5 further includes a stacking blocking mechanism 56;

[0091] The stack blocking mechanism 56 is provided with two, and the two stack blocking mechanisms 56 are respectively arranged on both sides of the Y-axis 54. The stack blocking mechanism 56 includes a stack blocking baffle 562 and a guide rod cylinder 561. The piston rod of the guide rod cylinder 561 is connected to the stack blocking baffle 562, and the stack blocking baffle 562 is driven by the cylinder to realize the up and down movement of the stack blocking baffle 562.

[0092] Embodiment 2:

[0093] like Figure 1-Figure 13 As shown, this embodiment is based on embodiment 1 and further includes a vehicle information detection device 7;

[0094] The vehicle information detection device 7 includes a mounting bracket 71, a vehicle detection linear module 72, a laser ranging sensor 73 and an adapter plate 74;

[0095] The mounting bracket 71 is mounted on the lifting platform 31 , the adapter plate 74 is mounted on the mounting bracket 71 , the vehicle detection linear module 72 is mounted on the adapter plate 74 , and the laser distance sensor 73 is mounted on the vehicle detection linear module 72 .

[0096] In this embodiment, the vehicle information detection device 7 is used to detect the offset of the vehicle, the size of the vehicle box, etc. When the vehicle stops, the lifting platform 31 descends to the top of the side panels on both sides of the vehicle box according to the feedback signal of the touch sensor device 314, and the vehicle detection linear module 72 with the laser distance sensor 73 descends for h to the inside of the vehicle box, and the laser distance sensor 73 measures the distance l from the measuring point to the left and right front and rear panels of the vehicle box. 1 , l 2 , l 3 , l 4 And the distance h' to the bottom of the car box, and then the width of the car box is calculated from these measurement data as W = l 1 +l 2 , length L = l 3 +l 4 , the height of the guardrail H = h' + h, and the lateral position offset of the vehicle The vehicle's center axis is used as the reference.

[0097] Embodiment 3:

[0098] like Figure 1-Figure 13 As shown, this embodiment is based on Embodiment 1, and the difference from Embodiment 1 is that:

[0099] The bag pushing mechanism 424 adopts a gantry structure, and the bag pushing cylinder is installed above the conveyor, thereby eliminating the lifting mechanism and simplifying the overall structure. The roller conveyor 422 is replaced by a belt conveyor.

[0100] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0101] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and the like cited in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of the relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

Claims

1. Automatic loading system, characterized in that: It comprises a supporting guide rail (2), a movable lifting platform (3), a conveying and stacking device (4) and a lifting and stacking device (5); The mobile lifting platform (3) is mounted on the support rail (2) and is capable of moving on the support rail (2); the mobile lifting platform (3) comprises a lifting platform (31) and a moving bracket (32); two moving brackets (32) are symmetrically arranged at the bottom of the lifting platform (31); the two moving brackets (32) are respectively slidably arranged on the two support rails (2); The conveying and stacking device (4) and the lifting and stacking device (5) are both installed on the mobile lifting platform (3); The conveying and stacking device (4) comprises a conveying section and a conveying and stacking device lifting section (42), the input end of the conveying section cooperates with the loading lane (1), and the conveying section conveys the objects to be conveyed on the loading lane (1) to the conveying and stacking device lifting section (42) for stacking; The lifting and stacking device (5) comprises a driving assembly and a stacking fork (57), wherein the driving assembly is used to drive the stacking fork (57) to vertically lift, horizontally move and rotate, and the stacking fork (57) is used to transport the objects to be transported after stacking to a transport vehicle. The lifting and stacking device (5) comprises a column (51), a driving assembly and a stacking fork (57), wherein the driving assembly comprises an X-axis (52), a Z-axis (53), a Y-axis (54) and a C-axis (55); The column (51) is mounted on the mobile lifting platform (3); the X-axis (52) is mounted on the column (51); the X-axis (52) comprises a supporting crossbeam (521); the supporting crossbeam (521) is arranged on the top of the column (51); a palletizing device X-direction horizontal sliding mechanism is arranged on the supporting crossbeam (521); the Z-axis (53) is mounted on the palletizing device X-direction horizontal sliding mechanism via a connecting frame (527); the Z-axis (53) comprises a mounting frame (531), a vertical axis (538) and a palletizing device vertical sliding mechanism; one end of the vertical axis (538) is mounted on the palletizing device X-direction horizontal sliding mechanism. The Y-axis (54) is mounted on a vertical sliding mechanism of a palletizing device, wherein the vertical sliding mechanism of the palletizing device is mounted on a mounting frame (531), and the bottom of the mounting frame (531) is mounted on a connecting frame (527); the Y-axis (54) comprises a support plate (541) and a Y-direction horizontal sliding mechanism of the palletizing device, wherein the support plate (541) is mounted on the bottom of a vertical axis (538), and the Y-direction horizontal sliding mechanism of the palletizing device is mounted on the support plate (541); one end of the C-axis (55) is mounted on the Y-direction horizontal sliding mechanism of the palletizing device, and the other end is connected to a palletizing fork (57) via a slewing bearing (552); The C-axis (55) is located on the moving slider (544) of the Y-axis (54), and comprises a fourth servo motor (551). The fourth servo motor (551) drives the slewing bearing (552) to drive the stacking fork (57) to rotate around the Z-axis (53). The conveying section comprises a conveying and stacking device fixed section (41), a front conveying belt (43), a steel frame platform (44) and a movable inclined conveyor (45); The fixed section (41) of the conveying and stacking device comprises a slope conveyor (411), a linear conveyor (412) and a turning conveyor (413) installed on a steel frame platform (44); the input end of the slope conveyor (411) cooperates with the output end of the front conveyor belt (43); the input end of the front conveyor belt (43) is located at the top of the loading lane (1); the output end of the slope conveyor (411) is connected to the input end of the movable slope conveyor (45) through a plurality of linear conveyors (412) and a plurality of turning conveyors (413); and the steel frame platform (44) is fixedly connected to the movable bracket (32); The conveying and stacking device lifting section (42) is installed on the mobile lifting platform (3); it can move horizontally and move up and down with the mobile lifting platform (3); the conveying and stacking device lifting section (42) comprises a bag turning conveyor (421), a roller conveyor (422), a stacking conveyor (423), a bag pushing mechanism (424), and a bag blocking mechanism (425); The input end of the material bag steering conveyor (421) cooperates with the output end of the movable slope conveyor (45), and the output end of the material bag steering conveyor (421) cooperates with the input end of the roller conveyor (422). The stacking conveyor (423) is arranged in a direction perpendicular to the transmission direction of the roller conveyor (422). One end of the stacking conveyor (423) cooperates with the roller conveyor (422), and the other end is provided with a bag blocking mechanism (425); the bag pushing mechanism (424) is arranged above the roller conveyor (422), and the bag pushing mechanism (424) corresponds to the stacking conveyor (423) one by one, and is used to push the objects to be conveyed onto the stacking conveyor (423). The material bag steering conveyor (421) comprises a belt conveyor (4211), a counting device (4212) and a material bag steering mechanism (4213); The input end and the output end of the belt conveyor (4211) cooperate with the output end of the movable slope conveyor (45) and the input end of the roller conveyor (422) respectively; the counting device (4212) is arranged above the input end of the belt conveyor (4211); The material bag steering mechanism (4213) comprises a bracket (42131), a baffle pushing mechanism (42132), a movable baffle (42133), and a fixed baffle (42134); The fixed stopper (42134) is arranged above one side of the belt conveyor (4211); the movable baffle (42133) is installed on the belt conveyor (4211); there is a certain distance between the fixed stopper (42134) and the movable baffle (42133); the baffle pushing mechanism (42132) is installed between the bracket (42131) and the movable baffle (42133); and the posture direction of the object to be conveyed on the belt conveyor (4211) is adjusted by the movable baffle (42133) and the fixed stopper (42134).

2. The automatic loading system according to claim 1, characterized in that: The lifting platform (31) comprises a platform surface (313), and the bottom of the platform surface (313) is connected to the moving bracket (32) via a lifting platform scissor-fork mechanism (311).

3. The automatic loading system according to claim 2, characterized in that: A touch sensor device (314) is provided on the lower end surface of the platform table top (313); the touch sensor device (314) is communicatively connected to a control system; and a drive mechanism of the platform table top (313) is communicatively connected to the control system.

4. The automatic loading system according to claim 1, characterized in that: The sliding mode of the movable bracket (32) on the supporting guide rail (2) includes roller slide rail drive or gear rack drive.

5. The automatic loading system according to claim 1, characterized in that: The lifting and stacking device (5) further comprises a stacking blocking mechanism (56); Two stacking blocking mechanisms (56) are provided, and the two stacking blocking mechanisms (56) are respectively provided on both sides of the Y axis (54). The stacking blocking mechanism (56) comprises a stacking blocking baffle (562). The stacking blocking baffle (562) is moved up and down by a baffle driving mechanism, and the baffle driving mechanism is installed on the support plate (541).

6. The automatic loading system according to claim 1, characterized in that: It also includes a vehicle information detection device (7); The vehicle information detection device (7) comprises a mounting bracket (71), a vehicle detection linear module (72), a laser distance measuring sensor (73) and an adapter plate (74); The mounting bracket (71) is mounted on the lifting platform (31), the adapter plate (74) is mounted on the mounting bracket (71), the vehicle detection linear module (72) is mounted on the adapter plate (74), and the laser distance measuring sensor (73) is mounted on the vehicle detection linear module (72).

7. Application of the automatic loading system according to any one of claims 1 to 6, characterized in that: Used for automatic loading of materials, including cement bags.

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