Automatic loading and unloading device for bagged goods in container

Abstract

The present invention relates to the field of bagged cargo loading and unloading equipment, and specifically provides an automatic loading and unloading device for bagged cargo in a container, comprising a chassis, a moving mechanism and a cargo loading platform are arranged on the chassis, a loading mechanism and a pulling mechanism are arranged at the output end of the moving mechanism, the pulling mechanism is used to place the bagged cargo horizontally on the loading mechanism, and the loading mechanism unloads the bagged cargo onto the cargo loading platform through the moving mechanism; when the device is in use, the mechanism is placed beside the target cargo, and the cargo is pulled on the side of the target bagged cargo by the pulling mechanism, so that the bagged cargo placed on the top layer of the container can be easily moved without being interfered by the container top cover, and the moving mechanism can control the spatial position and rotation angle of the loading mechanism, and after the pulling mechanism pulls the bagged cargo out of the stacking pile, the bagged cargo is naturally placed on the loading mechanism, and subsequently the cargo is unloaded onto the cargo loading platform through the moving mechanism, so as to realize automatic and efficient loading and unloading of the bagged cargo.

Description

Technical Field

[0001] The invention relates to the field of bagged cargo loading and unloading equipment, and in particular provides an automatic loading and unloading device for bagged cargo in a container. Background Art

[0002] With the rapid development of the economy and society, the transportation tasks of railways, ports and highway systems are busy, and various large-scale logistics companies have gradually formed, which have put forward higher requirements on the efficiency of cargo transportation and loading and unloading, making mechanized loading and unloading the mainstream of loading and unloading cargo.

[0003] However, bagged goods in closed spaces such as containers and boxcars still have to be loaded and unloaded manually or by forklift pallets. Manual handling and loading and unloading is labor-intensive and inefficient. The loading and unloading process takes up a long time on the truck, affecting the truck turnover. In addition, the high labor cost and heavy burden on employers affect the production efficiency of railway transportation.

[0004] Although there are automated handling devices for bagged goods in the prior art, they are generally lifted by suction cups or clamped by grippers. The former requires a sufficiently large suction cup and suction force to lift neatly packaged goods, and the suction cup lifting effect is extremely poor for bagged goods in woven bags or with uneven surfaces; the latter requires no obstacles around the target to be well clamped, and for bagged goods stacked in a closed space, the efficiency of using grippers to bag goods is not high due to space and angle limitations.

[0005] Therefore, there is an urgent need for a device that can be used for efficiently loading and unloading bagged goods in a closed space such as a container. Summary of the invention

[0006] The present invention aims to provide an automatic loading and unloading device for bagged cargo in a container, which is convenient for efficiently unloading the bagged cargo loaded in the container.

[0007] The technical solution of the present invention is as follows:

[0008] An automatic loading and unloading device for bagged cargo in a container comprises a chassis, a moving mechanism and a cargo platform are arranged on the chassis, a loading mechanism and a pulling mechanism are arranged at the output end of the moving mechanism, the loading mechanism and the pulling mechanism are arranged in cooperation, the pulling mechanism is used to pull the bagged cargo onto the loading mechanism, and the loading mechanism unloads the bagged cargo onto the cargo platform through the moving mechanism, wherein the loading mechanism comprises a mounting plate, and the mounting plate is fixedly arranged at the output end of the moving mechanism.

[0009] In this solution, since the device horizontally pulls the bagged goods laterally, the force required to move the bagged goods must be less than the force required to lift the bagged goods. When the device is in use, the placing mechanism is placed beside the target goods, and the pulling mechanism pulls the goods on the side of the target bagged goods, enabling the bagged goods placed on the top layer of the container to be moved more easily. At the same time, it is not easy to interfere with the container top cover. The moving mechanism can control the spatial position and rotation angle of the loading mechanism. After the pulling mechanism pulls out the bagged goods from the pallet stack, the bagged goods are naturally placed on the loading mechanism, and then the goods are unloaded onto the loading platform through the moving mechanism, realizing the automatic and efficient unloading of the bagged goods.

[0010] Preferably, the loading mechanism includes a mounting plate and a loading part. The loading part includes loading claw palms. The cross-section of the loading claw palms is U-shaped, and the openings of the loading claw palms are symmetrically arranged on the mounting plate opposite to each other.

[0011] In this solution, the symmetrically arranged U-shaped loading claw palms form a frame that can place the bagged goods. When the bagged goods are pulled by the pulling mechanism, they will seamlessly move into the frame formed by the loading claw palms, ensuring that the bagged goods will not be suspended during this period. At the same time, the frame formed by the loading claw palms can well place the bagged goods, and the surrounding of the bagged goods is blocked by the loading claw palms to prevent the bagged goods from rolling.

[0012] Preferably, the loading claw palms are slidably arranged on the mounting plate through a rotating table, and the relative distance between the loading claw palms is controlled by sliding the rotating table.

[0013] In this solution, by adjusting the distance between the symmetrically arranged rotating tables, the opening width of the frame formed by the loading claw palms can be controlled, thereby adapting to bagged goods of different widths. At the same time, in order to prevent the loading claw palms from being too large and interfering with the side wall of the container, and thus preventing the bagged goods placed at the outermost edge of the container from entering the loading claw palms, the device first unloads the bagged goods in the middle part, and then the loading mechanism rotates horizontally through the moving mechanism and pulls the goods from the other side of the edge bagged goods to avoid collision with the container edge. At this time, by adjusting the distance between the two loading claw palms, the length of different sides of the same bagged goods can be adapted.

[0014] Preferably, a rotating shaft perpendicular to the sliding direction of the rotating table is arranged on the rotating table. The loading claw palms include rotating arms arranged at both ends of the rotating shaft. A rotating arm beam is fixedly arranged between the rotating arms. A plurality of finger rods are vertically and evenly penetrated through the rotating arm beam. The end of the finger rod is bent and fixedly provided with a support plate.

[0015] In this scheme, by rotating the rotating shaft, the loading claw palm can be controlled to rotate, so that the loading claw palm is changed into a clamping claw structure, and the opening and closing of the loading claw palm can be controlled by controlling the relative rotation of the symmetrically arranged loading claw palms. After the loading mechanism transports the bagged goods to the target, the two symmetrically arranged loading claw palms open at the same time, and the bagged goods in the loading part that have reached the target position can be unloaded more quickly; and the bagged goods on the bottom layer and scattered can also be directly grasped by the loading claw palm of the clamping claw structure. The flexible use of this device makes the unloading of bagged goods more efficient; at the same time, by sliding the finger rod set on the swing arm beam, the frame height of the loading claw palm can be controlled to further adapt to bagged goods of different sizes and specifications.

[0016] It should be noted that when the loading claw is in the extreme position of the clamping state, its support plate is in a horizontal state, and the planes where the two support plates arranged on the symmetrical loading claw are located may be slightly different. In the clamping state, if the beam lining is too wide, it can be stacked together to allow for greater adjustment room.

[0017] Preferably, the pulling mechanism comprises a pulling claw arranged between the loading claw palms, the pulling claw is slidably arranged along the length direction of the loading claw palms, and the pulling claw is controlled to open and close by a telescopic cylinder.

[0018] In this scheme, bagged goods are stacked horizontally, and due to packaging reasons, bagged goods are not neatly shaped like rectangular blocks, but are high in the middle and gradually thin at the four ends. The pulling claws have enough space and angle to clamp the sides of the bagged goods with smaller thickness. The pulling mechanism is set in the frame formed by the loading claws, and the sides of the stacked bagged goods are clamped by opening and closing the pulling claws. After the pulling claws clamp the bagged goods, they can be directly dragged into the frame formed by the loading claws.

[0019] Preferably, the pulling claw is composed of two upper and lower clamping fingers, and the fingertips of the clamping fingers are hinged with a clamping head through an elastic telescopic rod.

[0020] In this solution, the clamp head can rotate relative to the fingertips of the clamping fingers. When clamping the bagged goods, the clamp head can automatically adjust the angle under force, so that the contact surface between the clamp head and the bagged goods is more closely fitted, avoiding the phenomenon of the clamping fingers slipping and falling off when pulling the bagged goods. And through the extension and retraction of the elastic telescopic rod, the clamp head can clamp bagged goods of different specifications and models, improving the adaptability of the device.

[0021] Preferably, the pulling claws are evenly arranged between the loading claw palms.

[0022] In this solution, multiple pulling claws are provided to clamp the bagged goods, thereby increasing the contact area between the pulling mechanism and the bagged goods during clamping, and preventing the packaging bag from being damaged due to excessive concentrated force when the bagged goods are pulled horizontally. Multiple pulling claws are used to clamp the same bagged goods at different positions, which can ensure that when the surface of the bagged goods is uneven, the fingertips of each pulling claw can well contact the bagged goods.

[0023] Preferably, the inner wall of the clamping finger is connected to an auxiliary suction cup via an elastic unit, and the elastic unit comprises an elastic telescopic rod, and the elastic telescopic rod is hinged to the auxiliary suction cup.

[0024] In this scheme, when the pulling claw is clamping the goods, the auxiliary suction cup set on the inner wall of the clamping finger can also contact the surface of the bagged goods and adsorb the bagged goods. It should be noted that in the prior art, the suction cup is required to have a sufficiently large suction force to lift the bagged goods by the suction cup, which consumes a large amount of power. At the same time, if the bagged goods slide slightly during the lifting process, the bagged goods may fall off. However, in this scheme, the bagged goods are briefly moved from the side. In the horizontal pulling process, the friction force of the bagged goods is the largest at the beginning. As the bagged goods are pulled out, the resistance that the pulling device needs to overcome decreases, and its maximum resistance is also much smaller than the force required to lift the bagged goods as a whole. Therefore, the auxiliary suction cup does not need too much power, and at the beginning of the pulling mechanism pulling the bagged goods, the auxiliary pulling claw drags the goods to avoid the situation where the pulling force of the pulling claw is too large and the friction force on the bagged goods is also large, causing the clamp of the pulling claw to scratch the packaging bag. When the bagged goods are partially pulled out and the pulling claw also completely clamps the bagged goods, the auxiliary suction cup can stop working to save energy.

[0025] Preferably, the auxiliary suction cup is an elongated suction cup, the length direction of the auxiliary suction cup is the same as the arrangement direction of the pulling claws, and the suction surface of the elongated suction cup has a certain concave arc.

[0026] In this solution, the auxiliary suction cup is arranged horizontally to increase the effective adsorption area of ​​the suction cup, thereby enhancing the suction force of the suction cup. At the same time, the suction cup has a certain curvature, which can better fit the surface of the bagged goods, thereby achieving effective adsorption.

[0027] Furthermore, the mobile mechanism is a mechanical arm, which is composed of multiple sub-arms with different degrees of freedom. The multi-degree-of-freedom mechanical arm can ensure that the loading mechanism can pull, load and carry goods placed at various angles; multiple steering wheels are arranged at the bottom of the chassis to facilitate the overall movement of the device; the cargo platform is a conveyor belt or a cargo pallet; a visual positioning and recognition mechanism is arranged in the middle and upper part of the chassis; a driving element and an industrial control mechanism are arranged inside the chassis, and the visual positioning and recognition system is used to identify the cargo stacking situation in the container and accurately locate the specific stacking position of the bagged cargo, and the industrial control mechanism controls the driving element to drive each mechanism to automatically carry the bagged cargo.

[0028] Beneficial effects of the present invention:

[0029] 1. The present invention controls the pulling mechanism to pull the bagged goods from the side and pull it onto the loading mechanism, and then unloads the goods onto the loading platform through the moving mechanism. The bagged goods placed on the top layer of the container can be easily moved without being interfered by the container top cover, and the moving mechanism can control the spatial position and rotation angle of the loading mechanism, and can cope with the bagged goods placed at various positions of the container.

[0030] 2. The pulling mechanism of the present invention moves the bagged goods horizontally by combining clamping and adsorption, which can remove the bagged goods with less effort and effectively avoid damage to the packaging bags. In addition, the pulling action is only to pull the bagged goods out of the stacking pile. After being pulled out, the bagged goods are naturally placed on the loading mechanism for transportation, and there is no need to worry about the bagged goods falling to the ground and damaging the goods during transportation.

[0031] 3. The present invention can automatically carry bagged goods in containers, reduce labor costs and labor intensity, and effectively improve the efficiency of bagged goods installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solution of the present invention, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0034] Figure 2 It is a schematic diagram of the loading mechanism and the pulling mechanism of the present invention;

[0035] Figure 3 For the present invention Figure 2 A top view of

[0036] Figure 4 For the present invention Figure 3 Sectional view of AA in the middle;

[0037] Figure 5 For the present invention Figure 3 Half-section view of the middle BB;

[0038] FIG6 (a) is a schematic diagram of another embodiment of the present invention showing a pulling claw opened;

[0039] FIG6( b ) is a schematic diagram of the closing of the pulling claw according to another embodiment of the present invention.

[0040] In the above drawings, the corresponding reference numerals are as follows:

[0041] 1-chassis, 11-steering wheel, 12-visual positioning and identification mechanism, 13-industrial control mechanism, 2-moving mechanism, 3-cargo platform, 4-loading mechanism, 41-mounting plate, 411-transverse slide rail, 412-longitudinal slide rail, 42-loading claw palm, 421-swivel arm, 422-swivel arm beam, 423-finger rod, 424-support plate, 43-rotating table, 44-rotating shaft, 45-hydraulic push rod, 5-pulling mechanism, 51-pulling claw, 511-clamping finger, 512-clamping head, 513-rocker, 52-telescopic cylinder, 53-auxiliary suction cup, 54-elastic unit. DETAILED DESCRIPTION

[0042] In conjunction with the accompanying drawings, the technical solution of the present invention is clearly and completely described through the specific implementation methods of the embodiments of the present invention.

[0043] like Figure 1 As shown, an automatic loading and unloading device for bagged cargo in a container includes a chassis 1, a moving mechanism 2 and a cargo platform 3 are arranged on the chassis 1, a loading mechanism 4 and a pulling mechanism 5 are arranged at the output end of the moving mechanism 2, and the loading mechanism 4 and the pulling mechanism 5 are arranged in coordination. The pulling mechanism 5 is used to place the bagged cargo horizontally on the loading mechanism 4, and the loading mechanism 4 unloads the bagged cargo onto the cargo platform 3 through the moving mechanism 2.

[0044] The mobile mechanism 2 includes but is not limited to being set as a gantry mobile frame or a mechanical arm, one end of the mobile mechanism 2 is connected to the chassis 1 as a fixed end, and the other end is installed with a working mechanism as an output end. This embodiment uses a mechanical arm composed of multiple sub-arms with different degrees of freedom. The multi-degree-of-freedom mechanical arm can ensure that the loading mechanism 4 can pull, load and carry goods placed at various angles. The cargo platform 3 provided includes but is not limited to a conveyor belt or a pallet, etc., and the present embodiment uses a conveyor belt. When the cargo platform 3 is a pallet, it is also necessary to stack the unloaded bagged goods to a certain extent. A plurality of steering wheels 11 are provided at the bottom of the chassis 1. It is convenient for the overall driving and movement of the device; the cargo platform 3 is a conveyor belt or a cargo pallet; a visual positioning and recognition mechanism 12 is provided in the upper part of the chassis 1; a driving element and an industrial control mechanism 13 are provided inside the chassis 1, and the visual positioning and recognition system is used to identify the cargo stacking situation in the container and accurately locate the specific stacking position of the bagged goods, and the industrial control mechanism 13 controls the driving element to drive each mechanism to automatically carry the bagged goods.

[0045] Specifically, the device uses a horizontal pulling method to move the bagged goods, and the force required to move the bagged goods is necessarily less than the force required to lift the bagged goods. When the device is in use, the mechanism is placed beside the target goods, and the bagged goods placed on the top layer of the container can be easily moved by pulling the goods on the side of the target bagged goods through the pulling mechanism 5, without being interfered by the container top cover, and the moving mechanism 2 can control the spatial position and rotation angle of the loading mechanism 4. After the pulling mechanism 5 pulls the bagged goods out of the stacking pile, the bagged goods are naturally placed on the loading mechanism 4, and then the goods are unloaded to the cargo platform 3 through the moving mechanism 2, realizing automatic and efficient unloading of bagged goods.

[0046] Embodiment 1:

[0047] like Figures 2 to 5 As shown, this embodiment provides a specific structure of a loading mechanism 4.

[0048] Specifically, the loading mechanism 4 includes a mounting plate 41 and a loading portion. The loading portion includes loading pawls 42. The cross-section of the loading pawl 42 is in a U shape, and the openings of the loading pawls 42 are symmetrically arranged on the mounting plate 41 in opposite directions. The output end of the robotic arm of the moving mechanism 2 is rotatably connected to the upper surface of the mounting plate 41, enabling the entire loading mechanism 4 to rotate horizontally. A pair of transverse sliding rails 411 are provided on the bottom surface of the mounting plate 41, and both ends of the rotating table 43 are slidably arranged on the transverse sliding rails 411. The two loading pawls 42 are symmetrically arranged on the transverse sliding rails 411 through the two rotating tables 43, and the symmetrically arranged loading pawls 42 form a "[ ]"-shaped frame. The position of the loading pawls 42 on the sliding rails is manually locked by bolts according to the actual situation, and an automatic device such as a lead screw roller or an electric telescopic rod can also be set to automatically and real-time adjust the position of the loading pawls 42. By sliding the rotating table 43, the relative distance between the loading pawls 42 is controlled, and thus the opening width of the frame formed by the loading pawls 42 is controlled to adapt to the bagged goods of different widths.

[0049] It should be noted that to avoid the situation where the width of the loading pawl 42 is too large and it will interfere with the side wall of the container, and thus the bagged goods placed at the outermost edge of the container cannot enter the loading pawl 42, the device first unloads the bagged goods in the middle part, and then the loading mechanism 4 rotates horizontally through the moving mechanism 2 and pulls the goods from the other side of the edge bagged goods to avoid collision with the edge of the container. At this time, by adjusting the distance between the two loading pawls 42, the length of the same bagged goods in different horizontal orientations can be adapted.

[0050] Furthermore, the loading pawl 42 further includes a rotating shaft 44 perpendicular to the length direction of the transverse sliding rail 411 and arranged on the rotating table 43. Rotating arms 421 are fixedly arranged at both ends of the rotating shaft 44. A rotating arm beam 422 is fixedly arranged between the rotating arms 421. A plurality of finger rods 423 are vertically and uniformly penetrated through the rotating arm beam 422. The end of the finger rod 423 is bent and fixedly provided with a support plate 424. To ensure the load-bearing capacity of the support plate 424, the support plate 424 is arranged above the bent part of the finger rod 423.

[0051] Specifically, by rotating the rotating shaft 44, the loading claw 42 can be controlled to rotate, so that the loading claw 42 is changed into a clamping structure. By controlling the relative rotation of the symmetrically arranged loading claw 42, the loading claw 42 can be opened and closed, and the bagged goods in the loading part that have reached the target position can be unloaded more quickly; and the bagged goods at the bottom layer and scattered can be directly grabbed by the loading claw 42 with the clamping structure. The flexible use of this device makes the unloading of bagged goods more efficient; at the same time, by sliding the finger rod 423 set on the rotating arm beam 422, the frame height of the loading claw 42 can be controlled to further adapt to bagged goods of different sizes and specifications. The driving of the rotating shaft 44 can be achieved by setting a motor and gears to drive the rotation of the rotating shaft 44, but if Figure 5 As shown, the present invention adopts a hydraulic push rod 45 to drive the rotating shaft 44 to rotate through the crank slider principle, thereby ensuring that the loading claw 42 has sufficient force to support the bagged goods and maintain stability when clamping. At the same time, the rotation center of the rotating arm 421 is on the axis of the rotating shaft 44. When the support plate 424 carries the bagged goods, the gravity of the bagged goods is converted into torque at the rotating shaft of the rotating arm 421. The rotating arm 421 is set on the rotating shaft 44 through a flange connection, which improves the connection between the two and avoids misalignment with the rotating shaft 44.

[0052] It should be noted that when the loading claw 42 is in the extreme position of the clamping state, its support plate 424 is in a horizontal state, and the planes where the two support plates 424 arranged on the symmetrical loading claw 42 are located may be slightly different. In the clamping state, if the support plates 424 are too wide, they can be stacked together to allow for greater adjustment room.

[0053] Furthermore, the sliding distance of the finger rod 423 on the swing arm beam 422 is generally adjusted manually and positioned using bolts. By providing downward bending slopes at both ends of the inlet and outlet of the support plate 424, it can prevent the bagged goods that are pulled horizontally from hitting the support plate 424 and being scratched due to the support plate 424 being too high.

[0054] Embodiment 2:

[0055] Based on the first embodiment, this embodiment Figures 2 to 5 As shown, a specific pulling mechanism 5 is provided, and the pulling mechanism 5 is arranged in cooperation with the loading mechanism 4 , that is, the pulling mechanism 5 is arranged in a frame formed by the loading claw 42 in the loading mechanism 4 .

[0056] Specifically, a longitudinal slide rail 412 is provided at the bottom of the mounting plate 41 perpendicular to the transverse slide rail 411. The pulling mechanism 5 includes a pulling claw 51 provided between the loading claws 42. The pulling claw 51 is slidably provided on the longitudinal slide rail 412. The longitudinal slide rail 412 can be a screw nut assembly, which can automatically control the sliding of the rotating table 43. The pulling claw 51 is controlled to open and close by the telescopic cylinder 52. The pulling claw 51 is composed of two upper and lower clamping fingers 511. The fingertips of the clamping fingers 511 are hinged with a clamp head 512 through an elastic telescopic rod. The output end of the telescopic cylinder 52 is rotatably connected to the clamping finger 511. The clamping finger 511 is connected to the fixed end of the telescopic cylinder 52 through a rocker 513. The rocker 513 is rotatably connected to the clamping finger 511 and the fixed end of the telescopic cylinder 52, and the three form a crank slider mechanism. When the cylinder is extended, the clamping finger 511 is opened; when the cylinder is retracted, the clamping finger 511 is closed.

[0057] During the operation of the pulling mechanism 5, after the pulling claw 51 grabs the bagged goods from the side, since the pulling mechanism 5 is entirely arranged in the frame formed by the loading claw palm 42, the pulling claw 51 drags the bagged goods clamp, and the part pulled out by the pulling claw 51 can be immediately dragged into the frame formed by the loading claw palm 42. In addition, during the clamping process of the pulling claw 51, the clamp head 512 can rotate relative to the fingertips of the clamping fingers 511. When clamping the bagged goods, the clamp head 512 can automatically adjust the angle under force, so that the contact surface of the clamp head 512 and the bagged goods is more closely fitted, increasing the friction force, and avoiding the phenomenon of the clamping fingers 511 slipping and falling off when pulling the bagged goods. In addition, by retracting the elastic telescopic rod, the clamp head 512 can clamp bagged goods of different specifications and models, thereby improving the adaptability of the device.

[0058] Furthermore, the pulling claws 51 are evenly arranged between the loading claws 42, such as Figure 2 As shown, the pulling mechanism 5 is symmetrically provided with two pulling claws 51, and each pulling claw 51 is driven individually by a telescopic cylinder 52. Of course, more pulling claws 51 can be provided according to actual conditions. By providing multiple pulling claws 51 to clamp the bagged goods, the contact area between the pulling mechanism 5 and the bagged goods is increased during clamping, and the situation in which the packaging bag is damaged due to excessive concentrated force when the bagged goods are pulled horizontally is avoided. By clamping different positions of the same bagged goods with multiple pulling claws 51, it can be ensured that when the surface of the bagged goods is uneven, the fingertips of the clamping fingers 511 of each pulling claw 51 can well abut against the bagged goods.

[0059] Furthermore, the inner wall of the clamping finger 511 is connected to the auxiliary suction cup 53 through an elastic unit 54, and the elastic unit 54 includes an elastic telescopic rod, and the elastic telescopic rod is hinged to the auxiliary suction cup 53. The auxiliary suction cup 53 fits the side wall of the bagged goods at different angles through the hinged elastic telescopic rod, and is supported by an elastic spring to prevent the auxiliary suction cup 53 from sagging due to its own gravity without external force.

[0060] Specifically, when the pulling claw 51 clamps the goods, the auxiliary suction cup 53 provided on the inner wall of the clamping finger 511 can also contact the surface of the bagged goods and adsorb the bagged goods. It should be noted that in the prior art, the suction cup is required to have a sufficiently large suction force to lift the bagged goods, which consumes a large amount of power. At the same time, if the bagged goods slide slightly during the lifting process, the bagged goods may fall off. However, in this solution, the bagged goods are briefly moved from the side, and the friction force is the largest at the beginning during the horizontal pulling process of the bagged goods. As the bagged goods are pulled out, the resistance that the pulling device needs to overcome decreases, and its maximum resistance is also much smaller than the force required to lift the bagged goods as a whole. Therefore, the auxiliary suction cup 53 does not need too much power, and at the beginning of the pulling mechanism 5 pulling the bagged goods, the auxiliary pulling claw 51 drags the goods to avoid the situation where the pulling force of the pulling claw 51 is too large and the friction force on the bagged goods is also large, causing the clamping head 512 of the pulling claw 51 to scratch the packaging bag. When the bagged goods are partially pulled out and the pulling claw 51 also completely clamps the bagged goods, the auxiliary suction cup 53 can stop working to save energy.

[0061] Furthermore, the auxiliary suction cup 53 is a long suction cup, and the length direction of the auxiliary suction cup 53 is the same as the arrangement direction of the pulling claws 51, and the suction surface of the long suction cup has a certain concave arc. By arranging the auxiliary suction cup 53 horizontally, the effective suction area of ​​the suction cup is increased, thereby enhancing the suction force of the suction cup. At the same time, the suction cup has a certain curvature, which can better fit the surface of the bagged goods, thereby effectively adsorbing.

[0062] The specific method of using the device in this embodiment is as follows:

[0063] The device enters the container, and first loads and unloads the bagged goods stacked in the middle position, and adjusts the relative distance between the two loading claws 42 according to the actual specifications of the bagged goods; then the robot arm controls the frame formed by the loading claws 42 to move to the side of the bagged goods at the highest point in the middle position, so that the horizontal height of the support plate 424 is adapted to the bottom height of the target bagged goods, and then the pulling claw 51 clamps the target goods. As the pulling claw 51 closes, the clamp 512 firmly clamps the bagged goods, and the elastic telescopic rod on the auxiliary suction cup 53 is compressed, so that the auxiliary suction cup 53 completely fits the surface of the bagged goods, and the auxiliary suction cup 53 generates negative pressure to suck the bagged goods. The pulling claw 51 pulls out the target bagged goods, and at the same time, the pulled bagged goods move to the support plate 424 until the entire bagged goods are placed in the frame formed by the loading claws 42. Then the robot arm controls the loading mechanism 4 to move the cabinet to the cargo platform 3.

[0064] Then the hydraulic push rod 45 works to rotate the rotating shaft 44, allowing the two sides of the loading claw palm 42 to open simultaneously, so that the bagged goods in the loading claw palm 42 fall on the cargo platform 3. Carry out the loading and unloading of the bagged goods in other places subsequently.

[0065] When the bagged goods in the middle are loaded and unloaded, the bagged goods against the container side wall need to rotate the loading mechanism 4 90 degrees, and the above operation can be performed from the opposite side of the container side wall to complete the unloading of the bagged goods on the side.

[0066] Embodiment three:

[0067] Some bagged goods are fully filled, and due to the specifications of the packaging bags, the sides of the bagged goods are curved. When such bagged goods are neatly stacked, the sides lack the angle and space for the pulling claws 51 to clamp, and thus cannot work.

[0068] In order to overcome this situation, this embodiment is different from the second embodiment on the basis of the first embodiment. As shown in Figures 6(a) and 6(b), the auxiliary suction cup 53 of this embodiment is hingedly arranged at the output end of the telescopic cylinder 52, and the suction surface of the auxiliary suction cup 53 faces the same direction as the extension direction of the telescopic cylinder 52, and is assisted in positioning by an elastic spring to prevent the hinged auxiliary suction cup 53 from sagging naturally.

[0069] Specifically, due to the crank slider mechanism of the pulling claw 51, the output end of the telescopic cylinder 52 is extended during the opening process of the pulling claw 51, and the auxiliary suction cup 53 arranged at the output end is equivalent to extending from the pulling claw 51, as shown in Figure 6 (a). Since the side of the target bagged goods is relatively flat and full, the protruding auxiliary suction cup 53 can directly absorb the side of the bagged goods, and at the same time, the telescopic cylinder 52 will shrink to pull the target bagged goods out. During the retraction process of the telescopic cylinder 52, the pulling claw 51 is also in the process of closing. When the pulling claw 51 contacts the surface of the bagged goods, the bagged goods have been pulled out a certain distance by the auxiliary suction cup 53, as shown in Figure 6 (b). At the same time, the auxiliary suction cup 53 also retracts into the pulling claw 51, so that the pulling claw 51 has enough clamping space and position to clamp the bagged goods. In this process, the auxiliary suction cup 53 automatically separates from the target bagged goods and stops adsorption. Subsequently, as in the second embodiment, the bagged goods are pulled into the frame formed by the loading mechanism 4 by the pulling claw 51 .

[0070] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention.

Claims

1. An automatic loading and unloading device for containerized bagged goods, characterized in that: It includes a chassis (1), a moving mechanism (2) and a loading platform (3) are arranged on the chassis (1), a loading mechanism (4) and a pulling mechanism (5) are arranged at the output end of the moving mechanism (2), the loading mechanism (4) and the pulling mechanism (5) are cooperatively arranged, the pulling mechanism (5) is used to pull the bagged goods onto the loading mechanism (4), and the loading mechanism (4) unloads the bagged goods onto the loading platform (3) through the moving mechanism (2). Among them, the loading mechanism (4) includes a mounting plate (41), the mounting plate (41) is fixedly arranged at the output end of the moving mechanism (2), the moving mechanism (2) is a robotic arm, and the output end of the robotic arm is rotatably connected to the upper surface of the mounting plate (41); the loading mechanism (4) further includes a loading part, the loading part includes a loading claw palm (42), the cross-section of the loading claw palm (42) is U-shaped, and the loading claw palms (42) are symmetrically arranged on the mounting plate (41) with their openings facing each other; the loading claw palms (42) are slidably arranged on the mounting plate (41) through a rotating table (43), and the relative distance between the loading claw palms (42) is controlled by sliding the rotating table (43); the pulling mechanism (5) includes a pulling claw (51) arranged between the loading claw palms (42), the pulling claw (51) is slidably arranged along the length direction of the loading claw palm (42), and the pulling claw (51) is controlled to open and close by a telescopic cylinder (52); the pulling claw (51) is composed of two upper and lower clamping fingers (511), and the fingertips of the clamping fingers (511) are hinged with a clamping head (512) through an elastic telescopic rod; the output end of the telescopic cylinder (52) is rotatably connected to the clamping finger (511), and a rocker (513) is connected between the clamping finger (511) and the fixed end of the telescopic cylinder (52), and the rocker (513) is rotatably connected to the clamping finger (511) and the fixed end of the telescopic cylinder (52), so that the three form a crank-slider mechanism; an auxiliary suction cup (53) is hinged to the output end of the telescopic cylinder (52), and the suction surface of the auxiliary suction cup (53) faces the same direction as the extension direction of the telescopic cylinder (52); due to the crank-slider mechanism arranged on the pulling claw (51), during the opening process of the pulling claw (51), the output end of the telescopic cylinder (52) extends, and the protruding auxiliary suction cup (53) can directly adsorb the side of the side bagged goods, and at the same time the telescopic cylinder (52) will contract to pull out the bagged goods; during the retraction process of the telescopic cylinder (52), the pulling claw (51) is also in the closing process. When the pulling claw (51) touches the surface of the bagged goods, the bagged goods have been pulled out a certain distance by the auxiliary suction cup (53), and at the same time the auxiliary suction cup (53) also retracts into the pulling claw (51), so that the pulling claw (51) has enough clamping space and position to clamp the bagged goods.

2. The automatic loading and unloading device for containerized bagged goods according to claim 1, characterized in that: The rotating table (43) is provided with a rotating shaft (44) perpendicular to the sliding direction of the rotating table (43); the loading claw palm (42) comprises rotating arms (421) arranged at both ends of the rotating shaft (44); a rotating arm beam (422) is fixedly arranged between the rotating arms (421); a plurality of finger rods (423) are vertically and evenly penetrated on the rotating arm beam (422); and a support plate (424) is bent and fixedly arranged at the end of the finger rod (423).

3. The automatic loading and unloading device for bagged cargo in a container according to claim 1, Features: The fingertips of the clamping fingers (511) are hingedly connected to a clamping head (512) via an elastic telescopic rod.

4. An automatic loading and unloading device for bagged cargo in a container according to claim 3, Features: The pulling claws (51) are evenly arranged between the loading claw palms (42).

5. An automatic loading and unloading device for bagged goods in a container according to any one of claims 1 to 4, Features: The robotic arm is composed of a plurality of sub-arms with different degrees of freedom; A plurality of steering wheels (11) are arranged at the bottom of the chassis (1); The cargo platform (3) is a conveyor belt or a cargo pallet; A visual positioning recognition mechanism (12) is provided in the upper middle of the chassis (1); A driving element and an industrial control mechanism (13) are arranged inside the chassis (1).

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