An efficient full-automatic loading machine for bulk bags

Abstract

The present invention provides an efficient full-automatic loading machine for ton bags, belonging to the field of loading machines. It solves the problems that the existing loading methods require workers to operate forklifts, and workers need to have the qualification to drive forklifts and forklift driver licenses, and the work efficiency is low, and the harsh working environment causes certain damage to the health of operators. The loading forklift, control system, and loading robot unit of the present invention are all installed on the rail mobile vehicle unit, and the rail mobile vehicle unit is installed on the loading platform. The loading platform is at a certain distance from the ground, and palletizing of ton bags can also be carried out under the platform. The present invention belongs to a fully automated device integrating multi-functional loading and palletizing. This loading machine can automatically load ton bag packages into high-sided trucks, low-sided trucks, and flatbed trucks. For the entire loading process, only simple vehicle type data needs to be input by personnel, and the rest is completely automatic. At the same time, this device can realize on-line loading of ton bag packages without the need to be equipped with pallets, saving pallet costs.

Description

Technical Field

[0001] The invention belongs to the field of truck loaders, and in particular relates to a highly efficient fully automatic truck loader for bulk bag packaging. Background Art

[0002] In chemical, grain and oil, food, light industry, pharmaceutical and other production enterprises, there are many ton bag packaging that need to be transferred and loaded. Since ton bag packaging is heavy-duty and most materials weigh several tons, workers are currently generally used to complete the ton bag packaging transfer and loading operations by forklifts. This way of working requires workers to operate forklifts, and workers need to have the qualifications to drive forklifts and a forklift driver's license. In addition, the work efficiency is low, and the harsh working environment causes certain damage to the health of operators. There are both operating workers and forklifts driving back and forth on site, which poses a great safety hazard. In addition, the site also needs to have the conditions for driving forklifts. Moreover, there are fewer and fewer young people who have both forklift driver's licenses and are willing to engage in loading and unloading work. Many companies hope to have automated equipment to replace this manual operation of forklifts for transfer and loading. Summary of the invention

[0003] In view of this, in order to solve the problems that the existing loading method requires workers to operate forklifts, and the workers need to have forklift driving qualifications and forklift driving licenses, and the work efficiency is low, and the harsh working environment causes certain damage to the health of operators, the present invention aims to propose an efficient ton bag packaging fully automatic loader, which can automatically load ton bag packaging into high-sided trucks, low-sided trucks, and flatbed trucks. The entire loading process only requires personnel to input simple vehicle model data, etc., and the rest is completely automatic. At the same time, this equipment can realize online loading of ton bag packaging without the need for pallets, saving pallet costs.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an efficient ton bag packaging fully automatic loading machine, comprising a rail moving vehicle unit, a loading robot unit, a ton bag transfer unit, a loading fork and a control system, wherein the loading fork is installed on the loading robot unit, the loading robot unit and the control system are installed on the rail moving vehicle unit, the rail moving vehicle unit is installed on the track on the loading platform, and the ton bag transfer unit is installed on the ground, and undertakes the online packaging machine. After the packaging machine produces ton bags, the ton bag transfer unit transports the ton bags to the designated loading area through the control system, and then the ton bags are forked up through the Y-axis movement and Z-axis lifting movement of the loading robot unit in cooperation with the loading fork, and then the ton bags are transported to the top of the carriage board through the X-axis movement of the rail moving vehicle unit in cooperation with the Y-axis movement and Z-axis lifting movement of the loading robot unit, and then the ton bags are placed on the corresponding position of the vehicle according to the loading path predetermined by the software program through the X-axis movement of the rail moving vehicle unit in cooperation with the pushing action of the loading fork, and the ton bags are placed in the corresponding position of the vehicle according to the loading path predetermined by the software program, and the process is carried out in sequence until the transport vehicle is filled;

[0005] The track mobile vehicle unit includes an X-axis walking frame, an X-axis walking mechanism, a loading robot walking mechanism, and X-axis walking wheels. The loading robot walking mechanism is installed on the X-axis walking frame, the X-axis walking frame is installed on the X-axis walking wheels, and the X-axis walking wheels are connected to the X-axis walking mechanism. The X-axis walking wheels are driven to rotate coaxially by the reduction motor of the X-axis walking mechanism to achieve X-axis movement;

[0006] The loading robot unit includes a loading robot lateral movement device and a loading robot longitudinal lifting device. The loading robot lateral movement device is installed on the loading robot walking mechanism and is driven to walk through the synchronous belt of the loading robot walking mechanism to achieve Y-axis movement. The loading robot longitudinal lifting device uses a chain traction device to achieve Z-axis lifting movement;

[0007] The ton bag transfer unit includes a belt type transfer vehicle, a bag pushing device, and a roller type transfer vehicle. The belt type transfer vehicle receives the ton bag packages produced by the upstream ton bag packaging machine. The belt type transfer vehicle transfers the ton bag to the specified bag pushing position through the track. At the same time, the roller type transfer vehicle waits at the specified bag pushing position. The bag pushing device pushes the ton bag from the belt type transfer vehicle to the roller type transfer vehicle, and the roller type transfer vehicle moves to the loading position through the track.

[0008] Furthermore, the X-axis walking frame includes a first walking mechanism mounting plate, a detection mounting plate, a limit mounting plate, a second walking mechanism mounting plate, and a wear-resistant track plate for the loading robot to walk. The first walking mechanism mounting plate is welded to the frame to achieve the installation of the first walking mechanism. The detection mounting plate is welded to the frame to achieve the installation of the detection element. The limit mounting plate is welded to the frame to achieve the installation of the limit seat. The second walking mechanism mounting plate is welded to the frame to achieve the installation of the second walking mechanism. The wear-resistant track plate for the loading robot to walk is welded to the frame to enable the loading robot to walk on the track and improve the walking stability.

[0009] Furthermore, the X-axis walking mechanism includes a first driving mechanism and a connecting shaft. The first driving mechanism is connected to the connecting shaft through a coupling, a pedestal bearing, and a key to achieve wheel rotation.

[0010] Furthermore, the loading robot walking mechanism includes a walking driving mechanism, a walking transmission mechanism, a synchronous belt tensioning mechanism, a synchronous belt pressing roller mechanism, and a transmission synchronous belt. The walking driving mechanism is connected to the walking transmission mechanism through a pedestal bearing, a synchronous belt pulley, and a key to achieve the rotation of the synchronous belt pulley. It is connected to the walking transmission mechanism through the transmission synchronous belt to achieve the Y-axis walking movement of the loading robot walking mechanism. The synchronous belt tensioning mechanism is installed on the X-axis walking frame to achieve synchronous belt tensioning. The synchronous belt pressing roller mechanism is installed on the X-axis walking frame to achieve the function of pressing the synchronous belt.

[0011] Furthermore, the lateral movement device of the loading robot includes a first lifting drive mechanism, a lifting transmission mechanism, a first walking wheel, a synchronous belt connection point, a limit retaining wheel, and a drag chain and bracket. The first lifting drive mechanism is connected to the lifting transmission mechanism through a pedestal bearing, a key, and a connecting shaft to achieve sprocket rotation. The first walking wheel is installed on the frame of the lateral movement device of the loading robot, and the synchronous belt connection point is installed on the frame of the lateral movement device of the loading robot to achieve connection with the synchronous belt. The limit retaining wheel is installed on the frame of the lateral movement device of the loading robot to achieve the limit function of the Y-axis walking of the lateral movement device of the loading robot. The drag chain and bracket are installed on the frame of the lateral movement device of the loading robot to facilitate the Z-axis lifting of the wiring of power lines and air pipes, etc.

[0012] Furthermore, the longitudinal lifting device of the loading robot includes a lifting main frame, a lifting transmission chain, a lifting limit seat, and a loading forklift connection block. The lifting transmission chain is installed on the lifting main frame to facilitate the subsequent Z-axis lifting movement. The lifting limit seat is welded to the lifting main frame to achieve the limit function of the Z-axis lifting. The loading forklift connection block is welded to the lifting main frame to achieve the subsequent installation of the forklift on the longitudinal lifting device.

[0013] Furthermore, the belt-type transfer vehicle includes a vehicle body, a belt, a second drive mechanism, and second walking wheels. A number of second walking wheels are installed below the vehicle body to achieve the walking of the belt-type transfer vehicle on the track. A belt is arranged inside the vehicle body, and the second drive mechanism drives the movement of the main shaft of the belt to achieve belt rotation and convey the ton bags.

[0014] Furthermore, the bag pushing device includes two clamping mechanisms, two clamping drive mechanisms, and two bag pushing drive mechanisms. Each bag pushing drive mechanism is equipped with a clamping drive mechanism. The clamping drive mechanism drives the clamping mechanism to push out and retract. The two clamping mechanisms are arranged opposite to each other to complete the ton bag clamping action.

[0015] Furthermore, the roller-type transfer vehicle includes rollers, a second lifting drive mechanism, and third walking wheels. The rollers are installed on the vehicle body to achieve the rotation of the rollers. A number of third walking wheels are installed below the vehicle body to achieve the walking of the roller-type transfer vehicle on the track. The second lifting drive mechanism is installed on the vehicle body to achieve the lifting movement of some rollers, so as to facilitate the forklift to extend into the gaps between the rollers to lift the ton bags.

[0016] Furthermore, the loading fork includes a fork main frame, a lifting connecting plate, a pusher, a fork, and a pump station. The lifting connecting plate is welded to the fork main frame to facilitate the installation of the loading fork on the longitudinal lifting device of the loading robot. The fork is welded to the fork main frame, the pusher is installed on the fork main frame, and the pump station is installed on the longitudinal lifting device of the loading robot. By driving the hydraulic cylinder to extend and retract through the pump station, the fork can push the ton bag out.

[0017] Compared with the prior art, the beneficial effects of the efficient fully automatic loading machine for ton bag packaging of the present invention are as follows:

[0018] 1. In the present invention, the position of the rail moving vehicle along the X-axis direction and the position of the loading robot along the Y-axis direction can be moved arbitrarily. In addition, by installing detection elements in each component machine, the vehicle can be searched for different vehicles, meeting the loading requirements of different vehicle models. Compared with the prior art, the device has a simple structure and reasonable design. It is a fully automated operation device integrating high efficiency, multi-function loading and palletizing, eliminating manual handling work, being safe and reliable, having a high degree of automation, saving costs, greatly improving work efficiency, and at the same time enabling the loading machine to be applicable to the loading work of different vehicle models, with a wider range of usability.

[0019] 2. In the present invention, through the cooperation of the belt-type transfer vehicle, the bag pushing device, and the roller-type transfer vehicle in the ton bag transfer unit, the lifting drive mechanism of the roller-type transfer vehicle can lower some rollers to leave a gap for the fork to insert, lift the ton bag without a pallet, and realize the transfer of the ton bag without a pallet, eliminating the cost of the pallet and greatly saving the production cost.

[0020] 3. In the present invention, the pusher on the loading fork is used to push the ton bag out, without the need for a pallet, achieving the purpose of cost savings.

[0021] 4. In the present invention, there is a clamping mechanism in the bag pushing device in the ton bag transfer unit. The ton bag can be clamped through the clamping drive mechanism, so that the ton bag will not be deformed during the bag pushing process, not affecting the loading effect, and the packaging bag will not be damaged during the bag pushing process, reducing losses.

[0022] 5. In the present invention, the clamping mechanism in the bag pushing device in the ton bag transfer unit is driven by a reduction motor in cooperation with a sprocket chain, so that the roller extends and retracts in the guide rail. The limit seat in this mechanism can be adjusted, and there is a detection element to control the extending distance of the clamp. Different extending distances result in different widths of the clamp, thus meeting the clamping of ton bags of different sizes. Compared with the prior art, the component machine has a simple structure and reasonable design, making the loading machine applicable to ton bags of different sizes and greatly improving the versatility of the loading machine.

[0023] 6. In the present invention, the loading forklift, the control system, and the loading robot unit are all installed on the rail mobile vehicle unit, and the rail mobile vehicle unit is installed on the loading platform. The loading platform is at a certain distance from the ground, and palletizing of ton bags can also be carried out under the platform. Compared with the prior art, the present invention belongs to a fully automated device integrating multi-functional loading and palletizing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0025] Figure 1 is a schematic diagram of the overall structure of the high-efficiency full-automatic loading machine for ton bag packaging according to the present invention;

[0026] Figure 2 is a schematic diagram of the structure of the rail mobile vehicle unit according to the present invention;

[0027] Figure 3 is a schematic diagram of the structure of the X-axis walking frame according to the present invention;

[0028] Figure 4 is a schematic diagram of the structure of the X-axis walking mechanism according to the present invention;

[0029] Figure 5 is a schematic diagram of the structure of the walking mechanism of the loading robot according to the present invention;

[0030] Figure 6 is a schematic diagram of the structure of the X-axis walking wheel according to the present invention;

[0031] Figure 7 is a schematic diagram of the structure of the loading robot unit according to the present invention;

[0032] Figure 8 is a schematic diagram of the structure of the lateral movement device of the loading robot according to the present invention;

[0033] Figure 9 is a schematic diagram of the structure of the longitudinal movement device of the loading robot according to the present invention;

[0034] Figure 10 is a schematic diagram of the structure of the ton bag transfer unit according to the present invention;

[0035] Figure 11 is a schematic diagram of the structure of the belt-type transfer vehicle according to the present invention;

[0036] Figure 12 is a schematic diagram of the structure of the bag pushing device according to the present invention;

[0037] Figure 13Schematic structural diagram of the roller-type transfer vehicle described in the present invention;

[0038] Figure 14 Schematic structural diagram of the loading fork described in the present invention;

[0039] In the figure: 1 - Rail mobile vehicle unit, 1-1 - X-axis walking frame, 1-1-1 - No. 1 walking mechanism mounting plate, 1-1-2 - Detection mounting plate, 1-1-3 - Limit mounting plate, 1-1-4 - No. 2 walking mechanism mounting plate, 1-1-5 - Loading robot walking wear-resistant track plate, 1-2 - X-axis walking mechanism, 1-2-1 - No. 1 driving mechanism, 1-2-2 - Connecting shaft, 1-3 - Loading robot walking mechanism, 1-3-1 - Walking driving mechanism, 1-3-2 - Walking transmission mechanism, 1-3-3 - Synchronous belt tensioning mechanism, 1-3-4 - Synchronous belt pressure roller mechanism, 1-3-5 - Transmission synchronous belt (open type, connected to the loading robot at both ends), 1-4 - X-axis walking wheels, 1-4-1 - Wheels, 1-4-2 - Wheel box body, 1-4-3 - Connecting shaft, 1-4-4 - Connecting plate;

[0040] 2 - Loading robot unit, 2-1 - Loading robot lateral movement device, 2-1-1 - No. 1 lifting driving mechanism, 2-1-2 - Lifting transmission mechanism, 2-1-3 - No. 1 walking wheel, 2-1-4 - Synchronous belt connection point (connected to the synchronous belt of the loading robot walking mechanism), 2-1-5 - Limit retaining wheel, 2-1-6 - Drag chain and bracket, 2-2 - Loading robot longitudinal movement device, 2-2-1 - Lifting main frame, 2-2-2 - Lifting transmission chain, 2-2-3 - Lifting limit seat, 2-2-4 - Loading fork connection block;

[0041] 3 - Tonne bag transfer unit, 3-1 - Belt-type transfer vehicle, 3-1-1 - Belt, 3-1-2 - No. 2 driving mechanism, 3-1-3 - No. 2 walking wheels, 3-2 - Pushing bag device, 3-2-1 Clamping mechanism, 3-2-2 - Clamping driving mechanism, 3-2-3 - Pushing bag driving mechanism, 3-3 - Roller-type transfer vehicle, 3-3-1 - Roller, 3-3-2 - No. 2 lifting driving mechanism, 3-3-3 - No. 3 walking wheels;

[0042] 4 - Loading fork, 4-1 - Fork main frame, 4-2 - Lifting connecting plate, 4-3 - Pusher, 4-4 - Fork, 4-5 - Pump station;

[0043] 5 - Control system, 6 - Light rail, 7 - Steel structure platform. Detailed implementation manners

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other. The described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0045] 1. Specific Embodiment 1, see Figure 1-14 In this embodiment, an efficient full-automatic loading machine for ton bags includes a rail mobile vehicle unit 1, a loading robot unit 2, a ton bag transfer unit 3, a loading forklift 4, and a control system 5. The loading forklift 4 is installed on the loading robot unit 2. The loading robot unit 2 and the control system 5 are installed on the rail mobile vehicle unit 1. The rail mobile vehicle unit 1 is installed on the rails on the loading platform. The ton bag transfer unit 3 is installed on the ground to receive the in-line packaging machine. After the packaging machine produces ton bags, under the control of the control system 5, the ton bag transfer unit 3 transports the ton bags to the designated loading area. Then, through the Y-axis movement and Z-axis lifting movement of the loading robot unit 2, the loading forklift 4 is used to fork up the ton bags. Then, through the X-axis movement of the rail mobile vehicle unit 1 in cooperation with the Y-axis movement and Z-axis lifting movement of the loading robot unit 2, the ton bags are transported above the carriage board. Then, through the X-axis movement of the rail mobile vehicle unit 1 in cooperation with the pushing action of the loading forklift 4, the ton bags are placed at the corresponding positions of the vehicle according to the pre-determined loading path in the software program, and so on until the transport vehicle is full.

[0046] The rail mobile vehicle unit 1 includes an X-axis walking frame 1-1, an X-axis walking mechanism 1-2, a loading robot walking mechanism 1-3, and X-axis walking wheels 1-4. The loading robot walking mechanism 1-3 is installed on the X-axis walking frame 1-1. The X-axis walking frame 1-1 is installed on the X-axis walking wheels 1-4. The X-axis walking wheels 1-4 are connected to the X-axis walking mechanism 1-2. The X-axis walking wheels 1-4 are driven to rotate coaxially by the reduction motor of the X-axis walking mechanism 1-2 to achieve X-axis movement.

[0047] The loading robot unit 2 includes a loading robot lateral movement device 2-1 and a loading robot longitudinal lifting device 2-2. The loading robot lateral movement device 2-1 is installed on the loading robot walking mechanism 1-3 and is driven to walk by the synchronous belt of the loading robot walking mechanism 1-3 to achieve Y-axis movement. The loading robot longitudinal lifting device 2-1 uses a chain traction device to achieve Z-axis lifting movement.

[0048] The bulk bag transfer unit 3 includes a belt-type transfer vehicle 3-1, a bag pushing device 3-2, and a roller-type transfer vehicle 3-3. The belt-type transfer vehicle 3-1 receives the bulk bags packaged by the upstream bulk bag packing machine. The belt-type transfer vehicle 3-1 transfers the bulk bags to the designated bag pushing position through a track. At the same time, the roller-type transfer vehicle 3-3 waits at the designated bag pushing position. The bag pushing device 3-2 pushes the bulk bags from the belt-type transfer vehicle 3-1 to the roller-type transfer vehicle 3-3, and the roller-type transfer vehicle 3-3 moves to the loading position through the track.

[0049] The X-axis walking frame 1-1 includes a first walking mechanism mounting plate 1-1-1, a detection mounting plate 1-1-2, a limit mounting plate 1-1-3, a second walking mechanism mounting plate 1-1-4, and a wear-resistant track plate 1-1-5 for the loading robot to walk. The first walking mechanism mounting plate 1-1-1 is welded to the frame to realize the installation of the first walking mechanism. The detection mounting plate 1-1-2 is welded to the frame to realize the installation of the detection element. The limit mounting plate 1-1-3 is welded to the frame to realize the installation of the limit seat. The second walking mechanism mounting plate 1-1-4 is welded to the frame to realize the installation of the second walking mechanism. The wear-resistant track plate 1-1-5 for the loading robot to walk is welded to the frame to realize the walking of the loading robot on the track and improve the walking stability.

[0050] The X-axis walking mechanism 1-2 includes a first driving mechanism 1-2-1 and a connecting shaft 1-2-2. The first driving mechanism 1-2-1 is connected to the connecting shaft 1-2-2 through a coupling, a pedestal bearing, and a key to realize the rotation of the wheel.

[0051] The walking mechanism 1-3 of the loading robot includes a walking driving mechanism 1-3-1, a walking transmission mechanism 1-3-2, a synchronous belt tensioning mechanism 1-3-3, a synchronous belt pressing roller mechanism 1-3-4, and a transmission synchronous belt 1-3-5. The walking driving mechanism 1-3-1 is connected to the walking transmission mechanism 1-3-2 through a pedestal bearing, a synchronous belt pulley, and a key to realize the rotation of the synchronous belt pulley. It is connected to the walking transmission mechanism 1-3-2 through the transmission synchronous belt 1-3-5 to realize the Y-axis walking movement of the walking mechanism 1-3 of the loading robot. The synchronous belt tensioning mechanism 1-3-3 is installed on the X-axis walking frame 1-1 to realize the tensioning of the synchronous belt. The synchronous belt pressing roller mechanism 1-3-4 is installed on the X-axis walking frame 1-1 to realize the function of pressing the synchronous belt.

[0052] The walking of the track mobile vehicle unit 1 is driven by a double reduction motor to drive the walking wheels to realize the X-axis movement, avoiding the disadvantages of excessive driving power, too long starting time, and too slow walking speed of a single motor. The walking mechanism of the loading robot is driven by a servo motor and uses synchronous belt transmission, which has the advantages of accurate positioning, smooth movement, and simple control.

[0053] The lateral movement device 2-1 of the loading robot includes a first lifting drive mechanism 2-1-1, a lifting transmission mechanism 2-1-2, a first walking wheel 2-1-3, a synchronous belt connection point 2-1-4, a limit retaining wheel 2-1-5, and a drag chain and bracket 2-1-6. The first lifting drive mechanism 2-1-1 is connected to the lifting transmission mechanism 2-1-2 through a pedestal bearing, a key, and a connecting shaft to achieve sprocket rotation. The first walking wheel 2-1-3 is installed on the frame of the lateral movement device 2-1 of the loading robot. The synchronous belt connection point 2-1-4 is installed on the frame of the lateral movement device 2-1 of the loading robot to achieve connection with the synchronous belt. The limit retaining wheel 2-1-5 is installed on the frame of the lateral movement device 2-1 of the loading robot to achieve the limit function for the Y-axis walking of the lateral movement device of the loading robot. The drag chain and bracket 2-1-6 are installed on the frame of the lateral movement device 2-1 of the loading robot to facilitate the Z-axis lifting of the wiring of power lines and air pipes, etc.

[0054] The longitudinal lifting device 2-2 of the loading robot includes a lifting main body frame 2-2-1, a lifting transmission chain 2-2-2, a lifting limit seat 2-2-3, and a loading forklift connection block 2-2-4. The lifting transmission chain 2-2-2 is installed on the lifting main body frame 2-2-1 to facilitate the subsequent Z-axis lifting movement. The lifting limit seat 2-2-3 is welded to the lifting main body frame 2-2-1 to achieve the limit function for the Z-axis lifting. The loading forklift connection block 2-2-4 is welded to the lifting main body frame 2-2-1 to achieve the subsequent installation of the forklift on the longitudinal lifting device 2-2.

[0055] The belt-type transfer vehicle 3-1 includes a vehicle body, a belt 3-1-1, a second drive mechanism 3-1-2, and second walking wheels 3-1-3. A plurality of second walking wheels 3-1-3 are installed below the vehicle body to achieve the walking of the belt-type transfer vehicle 3-1 on the track. A belt 3-1-1 is arranged inside the vehicle body. The second drive mechanism 3-1-2 drives the movement of the driving shaft of the belt 3-1-1 to achieve belt rotation and convey the ton bags.

[0056] The bag pushing device 3-2 includes two clamping mechanisms 3-2-1, two clamping drive mechanisms 3-2-2, and two bag pushing drive mechanisms 3-2-3. Each bag pushing drive mechanism 3-2-3 is equipped with a clamping drive mechanism 3-2-2. The clamping drive mechanism 3-2-2 drives the clamping mechanism 3-2-1 to push out and retract. The two clamping mechanisms 3-2-1 are arranged oppositely to complete the ton bag clamping action.

[0057] The bag pushing device 3-2 uses a driving motor to drive the sprocket and conveys with the help of a chain.

[0058] The roller transfer vehicle 3-3 includes rollers 3-3-1, a second lifting drive mechanism 3-3-2, and third walking wheels 3-3-3. The rollers 3-3-1 are installed on the vehicle body to enable the rollers 3-3-1 to rotate. A number of third walking wheels 3-3-3 are installed under the vehicle body to enable the roller transfer vehicle 3-3 to travel on the track. The second lifting drive mechanism 3-3-2 is installed on the vehicle body to enable partial lifting movement of the rollers, so as to facilitate the forklift to extend into the roller gap to lift the ton bags.

[0059] The roller transfer vehicle 3-3 drives the odd-numbered idler rollers to descend through a cylinder, and then inserts the loading forklift from the odd-numbered idler rollers to lift the ton bags without pallets.

[0060] The loading forklift 4 includes a forklift main frame 4-1, a lifting connecting plate 4-2, a pusher 4-3, forklift tines 4-4, and a pump station 4-5. The lifting connecting plate 4-2 is welded to the forklift main frame 4-1 to facilitate the installation of the loading forklift 4 on the longitudinal lifting device 2-2 of the loading robot. The forklift tines 4-4 are welded to the forklift main frame 4-1. The pusher 4-3 is installed on the forklift main frame 4-1. The pump station 4-5 is installed on the longitudinal lifting device 2-2 of the loading robot. By driving the hydraulic cylinder to extend and retract through the pump station, the forklift tines can push the ton bags.

[0061] The loading forklift 4 has certain requirements for the loading space. During the loading process, it is required that the forklift tines be as close as possible to the bottom of the carriage. For example, when loading a fence truck, it cannot hit the truck fence during lateral movement. The function of loading the ton bag packaging is realized by the coordinated movement of the X-axis track mobile vehicle, the lateral movement device 2-1 of the loading robot, and the pusher 4-3 of the loading forklift 4.

[0062] The power source in the whole set of systems is driven in a combined form of a reduction motor, a servo motor, pneumatic, hydraulic, etc. The control system contains multiple detection units. Advanced detection components, through the PLC control system, multiple positioning units such as ultrasonic and laser, have accurate positioning and can complete data statistics and output.

[0063] The specific working process of the efficient ton bag packaging full-automatic loading machine is as follows:

[0064] First, the vehicle to be loaded stops within the specified range according to the ground markings. The loading unit searches for the vehicle, and the system records the vehicle's position information. After the packaging machine produces the bulk bags, they are conveyed by the belt conveyor to the designated area. Then, the belt transfer vehicle 3-1 moves to the side of the belt conveyor through the second driving mechanism 3-1-2 and the second walking wheels 3-1-3. The bulk bags are conveyed onto the belt transfer vehicle 3-1 through the belt 3-1-1. Then, the belt transfer vehicle 3-1 moves to the bag pushing device 3-2 through the second driving mechanism 3-1-2 and the second walking wheels 3-1-3. The bulk bags are clamped by the clamping mechanism 3-2-1 and the clamping driving mechanism 3-2-2, and are conveyed onto the roller transfer vehicle 3-3 through the coordinated movement of the bag pushing driving mechanism 3-2-3 and the belt 3-1-1.

[0065] Then, the roller transfer vehicle 3-3 moves the bulk bags to the designated loading area through the third walking wheels 3-3-3. At the same time, part of the rollers 3-3-1 are lowered through the second lifting driving mechanism 3-3-2 to leave a gap for the forklift to insert.

[0066] Then, through the Y-axis movement and Z-axis lifting movement of the loading robot unit 2, in cooperation with the loading forklift 4, the bulk bags are lifted. Then, through the X-axis movement of the rail mobile vehicle unit 1 in cooperation with the Y-axis movement and Z-axis lifting movement of the loading robot unit 2, the bulk bags are transported above the carriage board. Then, through the X-axis movement of the rail mobile vehicle unit 1 in cooperation with the pushing action of the loading forklift 4, the bulk bags are placed at the corresponding positions of the vehicle according to the pre-determined loading path in the software program. This process is carried out in sequence until the transport vehicle is full, and then the vehicle drives out.

[0067] The embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. According to the content of this specification, many modifications and variations can be made. These embodiments are selected and specifically described in this specification to better explain the principle and practical application of the present invention, so that those skilled in the relevant technical field can understand and utilize the present invention well.

Claims

1. An efficient full-automatic loading machine for bulk bags, characterized in that: it includes a rail mobile vehicle unit (1), a loading robot unit (2), a bulk bag transfer unit (3), a loading forklift (4) and a control system (5). The loading forklift (4) is installed on the loading robot unit (2), the loading robot unit (2) and the control system (5) are installed on the rail mobile vehicle unit (1), the rail mobile vehicle unit (1) is installed on the rail on the loading platform, and the bulk bag transfer unit (3) is installed on the ground to receive the on-line packaging machine; The rail mobile vehicle unit (1) includes an X-axis walking frame (1-1), an X-axis walking mechanism (1-2), a loading robot walking mechanism (1-3) and X-axis walking wheels (1-4). The loading robot walking mechanism (1-3) is installed on the X-axis walking frame (1-1), the X-axis walking frame (1-1) is installed on the X-axis walking wheels (1-4), and the X-axis walking wheels (1-4) are connected to the X-axis walking mechanism (1-2). The reduction motor of the X-axis walking mechanism (1-2) drives the X-axis walking wheels (1-4) to rotate coaxially to realize the X-axis movement; The loading robot unit (2) includes a loading robot lateral movement device (2-1) and a loading robot longitudinal lifting device (2-2). The loading robot lateral movement device (2-1) is installed on the loading robot walking mechanism (1-3) and moves synchronously through the synchronous belt of the loading robot walking mechanism (1-3) to realize the Y-axis movement. The loading robot longitudinal lifting device (2-2) uses a chain traction device to realize the Z-axis lifting movement; The bulk bag transfer unit (3) includes a belt-type transfer vehicle (3-1), a bag-pushing device (3-2) and a roller-type transfer vehicle (3-3). The belt-type transfer vehicle (3-1) receives the bulk bags produced by the upstream bulk bag packaging machine. The belt-type transfer vehicle (3-1) transfers the bulk bags to the specified bag-pushing position through the rail. At the same time, the roller-type transfer vehicle (3-3) waits at the specified bag-pushing position. The bag-pushing device (3-2) pushes the bulk bags from the belt-type transfer vehicle (3-1) to the roller-type transfer vehicle (3-3), and the roller-type transfer vehicle (3-3) moves to the loading position through the rail; The bag-pushing device (3-2) includes two clamping mechanisms (3-2-1), two clamping driving mechanisms (3-2-2) and two bag-pushing driving mechanisms (3-2-3). Each bag-pushing driving mechanism (3-2-3) is installed with a clamping driving mechanism (3-2-2). The clamping driving mechanism (3-2-2) drives the clamping mechanism (3-2-1) to push out and retract. The two clamping mechanisms (3-2-1) are arranged oppositely to complete the bulk bag clamping action; The X-axis walking frame (1-1) includes a first walking mechanism mounting plate (1-1-1), a detection mounting plate (1-1-2), a limit mounting plate (1-1-3), a second walking mechanism mounting plate (1-1-4), and a loading robot walking wear-resistant track plate (1-1-5). The first walking mechanism mounting plate (1-1-1) is welded to the frame to install the first walking mechanism. The detection mounting plate (1-1-2) is welded to the frame to install the detection element. The limit mounting plate (1-1-3) is welded to the frame to install the limit seat. The second walking mechanism mounting plate (1-1-4) is welded to the frame to install the second walking mechanism. The loading robot walking wear-resistant track plate (1-1-5) is welded to the frame to enable the loading robot to walk on the track and improve the walking stability. The X-axis walking mechanism (1-2) includes a first driving mechanism (1-2-1) and a connecting shaft (1-2-2). The first driving mechanism (1-2-1) is connected to the connecting shaft (1-2-2) to realize the rotation of the wheels. The loading fork (4) includes a fork main frame (4-1), a lifting connecting plate (4-2), a pusher (4-3), a fork (4-4), and a pump station (4-5). The lifting connecting plate (4-2) is welded to the fork main frame (4-1) to facilitate the installation of the loading fork (4) on the longitudinal lifting device (2-2) of the loading robot. The fork (4-4) is welded to the fork main frame (4-1). The pusher (4-3) is installed on the fork main frame (4-1). The pump station (4-5) is installed on the longitudinal lifting device (2-2) of the loading robot. By driving the hydraulic cylinder to extend and retract through the pump station, the action of the fork pushing out the ton bag is realized.

2. The high-efficiency ton-bag packaging full-automatic loading machine according to claim 1, characterized in that: The loading robot walking mechanism (1-3) includes a walking driving mechanism (1-3-1), a walking transmission mechanism (1-3-2), a synchronous belt tensioning mechanism (1-3-3), a synchronous belt pressing roller mechanism (1-3-4), and a transmission synchronous belt (1-3-5). The walking driving mechanism (1-3-1) is connected to the walking transmission mechanism (1-3-2) to realize the rotation of the synchronous belt pulley. Through the connection of the transmission synchronous belt (1-3-5) to the walking transmission mechanism (1-3-2), the Y-axis walking motion of the loading robot walking mechanism (1-3) is realized. The synchronous belt tensioning mechanism (1-3-3) is installed on the X-axis walking frame (1-1) to realize the tensioning of the synchronous belt. The synchronous belt pressing roller mechanism (1-3-4) is installed on the X-axis walking frame (1-1) to realize the function of pressing the synchronous belt.

3. The high-efficiency ton-bag packaging full-automatic loading machine according to claim 1, characterized in that: The horizontal movement device (2-1) of the loading robot includes a first lifting drive mechanism (2-1-1), a lifting transmission mechanism (2-1-2), a first walking wheel (2-1-3), a synchronous belt connection point (2-1-4), a limit retaining wheel (2-1-5), and a drag chain and bracket (2-1-6). The first lifting drive mechanism (2-1-1) is connected to the lifting transmission mechanism (2-1-2) to achieve sprocket rotation. The first walking wheel (2-1-3) is installed on the frame of the horizontal movement device (2-1) of the loading robot. The synchronous belt connection point (2-1-4) is installed on the frame of the horizontal movement device (2-1) of the loading robot to achieve connection with the synchronous belt. The limit retaining wheel (2-1-5) is installed on the frame of the horizontal movement device (2-1) of the loading robot to achieve the limit function for the Y-axis movement of the horizontal movement device (2-1) of the loading robot. The drag chain and bracket (2-1-6) are installed on the frame of the horizontal movement device (2-1) of the loading robot to facilitate the Z-axis lifting of the power cord and air pipe wiring.

4. The high-efficiency ton bag packaging full-automatic loading machine according to claim 1, characterized in that: The vertical lifting device (2-2) of the loading robot includes a lifting main body frame (2-2-1), a lifting transmission chain (2-2-2), a lifting limit seat (2-2-3), and a loading forklift connection block (2-2-4). The lifting transmission chain (2-2-2) is installed on the lifting main body frame (2-2-1) to facilitate the subsequent Z-axis lifting movement. The lifting limit seat (2-2-3) is welded to the lifting main body frame (2-2-1) to achieve the limit function for Z-axis lifting. The loading forklift connection block (2-2-4) is welded to the lifting main body frame (2-2-1) to achieve the subsequent installation of the forklift on the vertical lifting device (2-2) of the loading robot.

5. The high-efficiency ton bag packaging full-automatic loading machine according to claim 1, characterized in that: The belt-type transfer vehicle (3-1) includes a vehicle body, a belt (3-1-1), a second drive mechanism (3-1-2), and a second walking wheel (3-1-3). A plurality of second walking wheels (3-1-3) are installed below the vehicle body to achieve the movement of the belt-type transfer vehicle (3-1) on the track. A belt (3-1-1) is arranged inside the vehicle body. The second drive mechanism (3-1-2) drives the movement of the driving shaft of the belt (3-1-1) to achieve belt rotation and convey the ton bags.

6. The high-efficiency ton bag packaging full-automatic loading machine according to claim 1, characterized in that: The roller transfer vehicle (3-3) includes rollers (3-3-1), a second lifting drive mechanism (3-3-2), and third walking wheels (3-3-3). The rollers (3-3-1) are installed on the vehicle body to enable the rollers (3-3-1) to rotate. A number of third walking wheels (3-3-3) are installed under the vehicle body to enable the roller transfer vehicle (3-3) to travel on the track. The second lifting drive mechanism (3-3-2) is installed on the vehicle body to enable partial lifting movement of the rollers, so as to facilitate the forklift to extend into the roller gaps to lift the ton bags.

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