An intelligent suspension conveying system for duckbill loader

Abstract

The invention discloses an intelligent suspension conveying system for a duckbill loader, and relates to the technical field of suspension conveying, comprising an installation frame with an installation cavity inside; two symmetrically arranged clamping rollers, at least partially protruding from the bottom of the installation frame, and used for clamping objects; two connecting members, symmetrically arranged on the installation frame, at least one of the two connecting members has a rotating part with the freedom to swing toward each other, and the clamping roller is rotatably connected with the rotating part; in the present invention, the top of the product is close to a balance plate, and when tilted, it swings around the contact point with the clamping roller as the center, which can push the balance plate to tilt, and the tilt of the balance plate drives the gear assembly to rotate the clamping roller, if the center of gravity is on the left, the clamping roller moves counterclockwise to the left, otherwise to the right, and the support point moves closer to the heavier side with the clamping roller, thereby changing the relative position of the supporting force and gravity, and adjusting the torque with the support point as the fulcrum, so that the center of gravity is close to the center of the supporting surface, and finally the torque balance of the product returns to a parallel state.

Description

Technical Field

[0001] The invention relates to the technical field of suspension conveying, and in particular to an intelligent suspension conveying system for a duckbill loader. Background Art

[0002] At present, the processing of some parts, especially large quantities of a single variety, and the workpieces whose shapes are suitable for hanging, generally use hanging conveyor systems as conveying and processing equipment.

[0003] When the hanging conveyor equipment is clamping and transmitting products, if the clamping position deviates too far from the center of gravity, the product will tilt and collide or rub against the conveying track or other objects, hindering the smooth transportation. Therefore, the intelligent hanging conveyor system can calculate and set the position and distance of each product and the clamp in advance, so that the clamp can clamp the symmetrical center point of the product. Therefore, after the product reaches the specified position, the clamp can directly clamp it to avoid the object from tilting at too large an angle.

[0004] However, because the shape and structure of the product itself are not completely regular, its center of gravity is difficult to be completely evenly distributed, and there will be deviations when the product is placed. It is impossible to completely determine that the center of gravity of each product will be aligned with the clamping point of the clamping mechanism, and the product placement will not be completely without deviation. This placement deviation further increases the inconsistency between the clamping claw and the symmetry center point of the product. Therefore, when clamping the product, even if the clamping mechanism can clamp the product and approach the symmetry center, due to the deviation of the initial placement, the product will have a certain tilt tendency at the moment of being clamped, and the tilt will be more obvious after moving up;

[0005] The tilt state of the product on the hanging conveyor will directly affect its state after being put down. If the product is always in a tilted state during the conveying process, it will be difficult for the product to automatically adjust to a completely horizontal state when the product is put down due to inertia and gravity. Even if there is some slight elastic deformation or adjustment space, the product will still remain tilted due to the weight and shape limitations of the product itself, as well as the constraints of the surrounding environment. Summary of the invention

[0006] The object of the present invention is to provide an intelligent suspension conveying system for a duckbill loader to solve the problems raised in the above-mentioned background technology.

[0007] In order to solve the above technical problems, the present invention provides an intelligent suspension conveying system for a duckbill loader, comprising a mounting frame having a mounting cavity therein; two symmetrically arranged clamping rollers, at least partially protruding from the bottom of the mounting frame, for clamping objects; two connecting members, symmetrically arranged on the mounting frame, at least one of the two connecting members having a rotating part with a degree of freedom that can swing toward each other, the clamping roller being rotatably connected to the rotating part, so that the clamping roller can rotate around its axis;

[0008] The trigger mechanism at least includes a balance plate that is rotatably arranged on a clamping roller protruding from the bottom of the mounting frame. The balance plate and the clamping roller are provided with matching gear assemblies, which are used to adaptively drive the clamping roller to rotate to a balance point when the clamped object deviates and contacts the balance plate through the transmission of the gear assembly.

[0009] Furthermore, the trigger mechanism includes two annular gear rings symmetrically arranged inside the installation cavity, and a first gear meshing with the annular gear ring is arranged on the clamping roller. The trigger mechanism also includes a connecting rod, the bottom end of which is connected to the top of the clamping roller, and the top end of the connecting rod extends to the inside of the installation frame and is connected to the outer wall of the first gear; a rotating rod inserted into the inside of the connecting rod, both ends of which extend to the outside of the connecting rod, the balance plate is connected to the outer wall of the rotating rod, the balance plate has a through opening located on the periphery of the connecting rod, and the connecting rod is located inside the through opening; two fixed rods are symmetrically installed on the top of the balance plate, the outer wall of the fixed rod is connected to the outer wall of the annular gear ring, and the two fixed rods are respectively located at both ends of the annular gear ring.

[0010] Furthermore, the connecting member includes two square openings opened on the mounting frame, and a support ring mounted on the outer wall of the connecting rod, and the rotating part includes a rotating shaft rotatably connected between the outer walls of the two support rings and the inner walls of the square openings; two mounting rings are installed on the outer wall of the connecting rod, and the support ring is located between the two mounting rings, the top of the support ring is abutted against the bottom of the upper mounting ring, and the bottom of the support ring is abutted against the top of the lower mounting ring, and the connecting rod is located inside the square opening.

[0011] Furthermore, a sliding plate is sleeved on the outer wall of the clamping roller, and the inner wall of the sliding plate is tightly attached to the outer wall of the clamping roller. The clamping roller is provided with a sliding groove, and two arc-shaped racks are arranged in the sliding groove. Both ends of the arc-shaped racks are connected with sliders, and the sliders are slidably engaged with the sliding groove. A second gear is meshed and connected between the two arc-shaped racks, and the second gear is located between the two arc-shaped racks. A partial area of ​​the inner wall of the sliding plate is located on one side of the sliding groove and is connected to the outer wall of the slider, and the sliding groove is located on the side opposite to the two clamping rollers.

[0012] Furthermore, the shape of the slide groove is the same as the swing trajectory of the two ends of the slide.

[0013] Furthermore, a servo motor is installed on the inner wall of the slide slot, and a driving end of the servo motor is connected to the outer wall of the second gear.

[0014] Furthermore, a clamping mechanism is provided in the installation frame, and the clamping mechanism includes a support rod whose bottom end is rotatably connected to the top of the first gear, a hanging ring is installed on the top of the support rod, and the hanging ring is sleeved with a fixing ring, and a mounting rod is installed on the outer wall of the fixing ring, and a connecting ring is provided in the installation frame, and the outer walls of the two mounting rods away from the fixing ring are each provided with a through hole, and the connecting ring is sleeved between the two through holes, and the inner wall of the through hole is abutted against the outer wall of the connecting ring, a hydraulic rod is installed on the inner bottom wall of the installation frame, and the telescopic end of the hydraulic rod is connected to the outer wall of the connecting ring, and a support rod is installed on the inner wall of the installation frame, and the outer wall of the mounting rod is abutted against the outer wall of the support rod.

[0015] Furthermore, the installation frame is provided with two strip-shaped openings for the fixing rod to swing forward, backward, left and right, and the fixing rod is located inside the strip-shaped openings.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the present invention, the top of the product is close to the balance plate, and when it is tilted, it swings around the contact point with the clamping roller, which can push the balance plate to tilt. The tilt of the balance plate drives the gear assembly to rotate the clamping roller. If the center of gravity is on the left, the clamping roller moves counterclockwise to the left, and vice versa. The support point moves toward the heavier side with the clamping roller, changing the relative position of the supporting force and gravity. The torque is adjusted with the support point as the fulcrum, so that the center of gravity is close to the center of the supporting surface. Finally, the torque balance of the product returns to a parallel state.

[0018] 2. In the present invention, when the two clamping rollers clamp the product, the product contacts the slide, and the product tilts, driving the slide to tilt along the outer wall of the clamping roller. The slide slides in the arc-shaped slide groove through the slider to prevent falling and adapt to the swinging trajectory of the slide. When the slide tilts, one end swings to drive the arc-shaped rack to slide and rotate the second gear. When the clamping roller rotates to flatten the product, the second gear is driven to rotate to drive the arc-shaped rack to slide, so that the slide returns to the initial position. At the same time, the slide moves up to drive the product back to its original position.

[0019] 3. In the present invention, when the product is tilted, one side of the balance plate is pushed to tilt upward and swing, driving the fixed rod to swing so that the annular gear ring swings toward the lower right. The swing trajectory of the annular gear ring is an arc, and its shape is the same. It can mesh with the first gear both when stationary and swinging, thereby driving the first gear to rotate when swinging, so that the clamping roller can rotate. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the external structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the internal structure of the present invention;

[0022] Figure 3It is a schematic diagram of the connection structure between the first gear and the annular gear ring in the present invention;

[0023] Figure 4 It is a schematic diagram of the connection structure between the clamping roller and the sliding plate in the present invention;

[0024] Figure 5 It is a schematic diagram of the connection structure between the arc-shaped rack and the second gear in the present invention;

[0025] Figure 6 It is a schematic diagram of the connection structure between the second gear and the servo motor in the present invention;

[0026] Figure 7 It is a schematic diagram of the connection structure between the support ring and the rotating shaft in the present invention.

[0027] In the figure: 1. Main body of the hanging conveying equipment;

[0028] 2. Mounting frame; 3. Clamping roller; 4. Slide; 5. Connecting rod; 6. First gear; 7. Fixed rod; 8. Strip opening; 9. Balance plate; 10. Annular gear ring; 11. Square opening; 12. Support rod; 13. Hanging ring; 14. Fixed ring; 15. Mounting rod; 16. Support rod; 17. Connecting ring; 18. Slide groove; 19. Rotating rod; 20. Support ring; 21. Sliding block; 22. Arc rack; 23. Second gear; 24. Servo motor; 25. Rotating shaft; 26. Mounting ring; 27. Hydraulic rod; 28. Through opening. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] The present invention provides a technical solution:

[0031] See also Figure 1-Figure 7As shown, an intelligent suspension conveying system for a duckbill loader includes a mounting frame 2 with a mounting cavity inside; two symmetrically arranged clamping rollers 3, at least partially protruding from the bottom of the mounting frame 2, and used for clamping objects; two connecting members, symmetrically arranged on the mounting frame 2, at least one of the two connecting members has a rotating part with the freedom to swing toward each other, the clamping roller 3 is rotatably connected to the rotating part, so that the clamping roller 3 can rotate around its axis; a trigger mechanism, at least including a balance plate 9 rotatably arranged on the clamping roller 3 protruding from the bottom of the mounting frame 2, the balance plate 9 and the clamping roller 3 are provided with matching gear assemblies, which are used to adaptively drive the clamping roller 3 to rotate to a balance point by transmission of the gear assembly when the clamped object is offset and contacts the balance plate 9.

[0032] The main body 1 of the hanging conveying equipment is equipped with a lift, and the mounting frame 2 is fixed at the bottom of the lift mechanism. The lift mechanism can drive the mounting frame 2 to move up and down. When conveying products, the lift mechanism on the main body 1 of the hanging conveying equipment is first used to drive the mounting frame 2 to move down, and the two clamping rollers 3 approach and clamp the products. The lift mechanism then drives the mounting frame 2 and the clamping rollers 3 to move up to keep the products away from the ground, and then the products are transported to other processes through the main body 1 of the hanging conveying equipment;

[0033] The connecting member can tilt the clamping roller 3 through the rotating part, so that the two swinging clamping rollers 3 can be close to or away from each other. When the two clamping rollers 3 clamp the product, it cannot be guaranteed that the symmetry center of the product can be accurately clamped every time, so the product will tilt due to unstable center of gravity after being clamped;

[0034] The top of the product is close to the balance plate 9, so after the product is tilted, the product takes the area in contact with the clamping roller 3 as the center point, one side of the product will swing upward, and the other side will swing downward, and the upward swinging side pushes one side of the balance plate 9 to tilt upward together. The balance plate 9 itself is relatively wide, and one side extends between the two clamping rollers 3, and the clamped product is also located between the two clamping rollers 3, so the product can completely contact the balance plate 9 after tilting;

[0035] When one side of the balance plate 9 is pushed and tilted upward, the gear assembly is driven to transmit, thereby driving the clamping roller 3 to rotate. When the clamping roller 3 rotates clockwise, it moves to the right along the product. When the clamping roller 3 moves to the right along the product, the contact surface between the clamping roller 3 and the product will change. As the clamping roller 3 rotates, the supporting point between the clamping roller 3 and the product will move to the right.

[0036] If the product's center of gravity is Figure 3, then on the contrary the clamping roller 3 will rotate counterclockwise and move to the left along the product. When the support point moves toward the heavier side of the product, as the support point moves, the relative position relationship between the support force and the gravity changes for the product as a whole. At this time, with the support point as the fulcrum, the torque generated by gravity and the torque generated by the support force will be readjusted, and the center of gravity position gradually approaches the central area of ​​the support surface. When the center of gravity is close to the center of the support surface, the torque of the product in all directions tends to be balanced, so that it can return to a parallel state.

[0037] See also Figure 1-Figure 3 The trigger mechanism includes two annular gear rings 10 symmetrically arranged inside the installation cavity, and a first gear 6 meshing with the annular gear ring 10 is arranged on the clamping roller 3. The trigger mechanism also includes a connecting rod 5, the bottom end of which is fixedly connected to the top of the clamping roller 3, and the top of the connecting rod 5 extends to the inside of the installation frame 2 and is fixedly connected to the outer wall of the first gear 6; a rotating rod 19 inserted into the connecting rod 5, and both ends extend to the outside of the connecting rod 5, and the balance plate 9 is fixedly connected to the outer wall of the rotating rod 19. The balance plate 9 is provided with a through opening 28 located on the periphery of the connecting rod 5, and the connecting rod 5 is located inside the through opening 28; two fixed rods 7 are symmetrically fixedly installed on the top of the balance plate 9, and the outer wall of the fixed rod 7 is fixedly connected to the outer wall of the annular gear ring 10, and the two fixed rods 7 are respectively located at both ends of the annular gear ring 10.

[0038] When one side of the balancing plate 9 is pushed and tilted upward, it will rotate along the inner wall of the connecting rod 5 through the rotating rod 19, so that the balancing plate 9 can swing. Since the balancing plate 9 is connected to the connecting rod 5 through the rotating rod 19, when the connecting rod 5 and the clamping roller 3 swing relative to each other or away from each other, the balancing plate 9 will swing along with the connecting rod 5. The center of gravity of the object is Figure 3 When the object is on the right side, the right side of the object tilts downward, while the left side of the object tilts upward and pushes the left sides of the two balance plates 9 to swing upward at the same time. The left side of the balance plate 9 drives the left fixed rod 7 to swing to the upper right, while the right side of the balance plate 9 drives the right fixed rod 7 to swing to the lower left, thereby causing the annular gear ring 10 to swing to the lower right.

[0039] The motion trajectory of the annular gear ring 10 when swinging is arc-shaped, so the shape of the annular gear ring 10 itself is the same as the swinging trajectory of the annular gear ring 10. Therefore, the annular gear ring 10 can engage with the teeth on the first gear 6 through the protrusion when stationary, and when swinging in an arc-shaped trajectory, the teeth on the outer wall of the annular gear ring 10 can also engage with the teeth on the outer wall of the first gear 6. Therefore, when the annular gear ring 10 swings, the engagement between the teeth can drive the first gear 6 to rotate, thereby causing the clamping roller to rotate.

[0040] See also Figure 3 and Figure 7The connecting member includes two square openings 11 opened on the mounting frame 2, and a support ring 20 sleeved on the outer wall of the connecting rod 5, and the rotating part includes a rotating shaft 25 rotatably connected between the outer walls of the two support rings 20 and the inner walls of the square openings 11; two mounting rings 26 are fixedly installed on the outer wall of the connecting rod 5, the support ring 20 is located between the two mounting rings 26, the top of the support ring 20 is against the bottom of the upper mounting ring 26, the bottom of the support ring 20 is against the top of the lower mounting ring 26, and the connecting rod 5 is located inside the square opening 11.

[0041] The support ring 20 is connected to the square opening 11 through the rotating shaft 25, so that the support ring 20 can rotate along the square opening 11 through the rotating shaft 25, and the inner wall of the mounting ring 26 is fixedly connected to the connecting rod 5. The upper mounting ring 26 is supported on the top of the support ring 20 to prevent the connecting rod 5 and the clamping roller 3 from falling. The lower mounting ring 26 is against the bottom of the support ring 20 to prevent the connecting rod 5 from being pulled out of the support ring 20 when the fixing ring 14 pulls the hanging ring 13. At the same time, the square opening 11 provides a swinging space for the connecting rod 5 and the support ring 20. When the clamping roller 3 swings, the connecting rod 5 and the clamping roller 3 tilt. The support ring 20 rotates along the square opening 11 through the rotating shaft 25 so that the support ring 20 can tilt, thereby causing the clamping roller 3 and the connecting rod 5 to tilt together.

[0042] See also Figure 2-Figure 6 The outer wall of the clamping roller 3 is sleeved with a slide 4, the inner wall of the slide 4 is in close contact with the outer wall of the clamping roller 3, the clamping roller 3 is provided with a slide groove 18, two arc-shaped racks 22 are arranged in the slide groove 18, both ends of the arc-shaped rack 22 are fixedly connected with sliders 21, the slider 21 is slidably engaged with the slide groove 18, a second gear 23 is meshed and connected between the two arc-shaped racks 22, and the second gear 23 is located between the two arc-shaped racks 22, a partial area of ​​the inner wall of the slide 4 is located on one side of the slide groove 18 and is fixedly connected to the outer wall of the slider 21, and the slide groove 18 is located on the side opposite to the two clamping rollers 3.

[0043] Depending on the inclination angle of the product, the distance the product descends cannot be guaranteed. When placing the product on the next process, if the height of the product changes, when the lifting mechanism moves the product downward and places it on the platform, a situation may occur that the position of the product on the two clamping rollers 3 drops due to the change of the center of gravity of the product during the clamping and adjustment process, while the clamping height of the clamping mechanism and the action of the lifting mechanism are uniformly set in advance;

[0044] When the bottom of the product touches the platform, the lifting mechanism will continue to move down because it is running according to the original setting and has not yet sensed that the product is in place. The distance of this continued downward movement is the actual height of the product, that is, the difference between the height of the initial clamping position of the product and the final height of the position on the two clamping rollers 3 after the center of gravity is adjusted;

[0045] Therefore, the slide 4 is sleeved on the clamping roller 3. When the two clamping rollers 3 approach and clamp the product, the position where the product is clamped contacts the outer wall of the slide 4. There is a notch on the other side of the slide 4. The upper and lower sides of both ends of the slide 4 are slidably buckled in the slide groove 18 through the slider 21. The shape of the slide groove 18 is two opposite arcs. Since the slide 4 is in close contact with the product, when the product tilts, the slide 4 will tilt along the outer wall of the clamping roller 3 and follow the direction of the object.

[0046] like Figure 4 When the right side of the product tilts downward, the right end of the slide 4 also tilts downward. Figure 4 The notch of the middle slide 4 and the position of the slide groove 18 are initially located at a position opposite to the product. When the right end of the slide 4 also tilts downward, the right end of the slide 4 will move along the Figure 4 The middle slide groove 18 swings in the lower right direction. When the slide plate 4 swings, it slides along the slide groove 18 through the slider 21. The connection between the slider 21 and the slide groove 18 mainly prevents the slide plate 4 from falling off the clamping roller 3. At the same time, the slider 21 can also slide along the swinging track of the slide plate 4. The shape of the slide groove 18 is the same as the swinging track of the slide plate 4, avoiding movement conflict.

[0047] Figure 4 When the right end of the middle slide 4 swings to the lower right, the left end of the slide 4 will swing to the upper left. On the contrary, when the left end of the slide 4 swings to the lower left, it means that the left side of the product tilts downward, and the right side of the product tilts upward, and the right end of the slide 4 will also tilt to the upper right. When the slide 4 tilts, the slider 21 slides, and the slider 21 drives the arc-shaped rack 22 to slide with the slide 4. Figure 5 When the arc-shaped rack 22 on the left side swings upward, the second gear 23 rotates clockwise, and the arc-shaped rack 22 on the right side swings downward; when the arc-shaped rack 22 on the left side swings downward, the second gear 23 rotates counterclockwise, and the arc-shaped rack 22 on the right side swings upward;

[0048] When the clamping roller 3 rotates to flatten the product, the second gear 23 is driven to rotate, and the second gear 23 drives the two arc-shaped racks 22 to slide, so that the two arc-shaped racks 22 slide to the initial position, and then the slide 4 swings to the initial position, and the slide 4 is pulled back to its original position. When the clamping roller 3 rotates, the slide 4 will move along the product, and when the slide 4 moves along the product, it is also pulled back upward by the slider 21 and the arc-shaped rack 22, and the product on the slide 4 will also move up with the slide 4. When the slide 4 returns to the initial position, the product is also pulled upward back to its original position.

[0049] See also Figure 4-Figure 5 The shape of the slide groove 18 is the same as the swing trajectory of the two ends of the slide plate 4.

[0050] The shape of the slide groove 18 is the same as the swing trajectory of the slide plate 4 to avoid movement conflict. At the same time, the slider 21 can also slide along the swing trajectory of the slide plate 4.

[0051] See also Figure 6 A servo motor 24 is fixedly mounted on the inner wall of the slide slot 18 , and a driving end of the servo motor 24 is fixedly connected to the outer wall of the second gear 23 .

[0052] The servo motor 24 is fixed on the inner wall of the slide slot 18 and is used to automatically control the rotation of the second gear 23 .

[0053] See also Figure 1-Figure 3 A clamping mechanism is provided in the mounting frame 2, and the clamping mechanism includes a support rod 12 whose bottom end is rotatably connected to the top of the first gear 6, a hanging ring 13 is fixedly installed on the top of the support rod 12, and a fixing ring 14 is sleeved on the hanging ring 13. A mounting rod 15 is fixedly installed on the outer wall of the fixing ring 14, and a connecting ring 17 is provided in the mounting frame 2. The outer walls of the two mounting rods 15 away from the fixing ring 14 are both provided with through holes, and the connecting ring 17 is sleeved between the two through holes, and the inner wall of the through hole is abutted against the outer wall of the connecting ring 17, and a hydraulic rod 27 is fixedly installed on the inner bottom wall of the mounting frame 2, and the telescopic end of the hydraulic rod 27 is fixedly connected to the outer wall of the connecting ring 17, and a support rod 16 is fixedly installed on the inner wall of the mounting frame 2, and the outer wall of the mounting rod 15 is abutted against the outer wall of the support rod 16.

[0054] The hydraulic rod 27 controls the connection ring 17 to move up and down, thereby causing one end of the two mounting rods 15 connected to the connection ring 17 to swing, and the support rod 16 supports the mounting rod 15, so that the mounting rod 15 can swing with the support rod 16 as a fulcrum. When the hydraulic rod 27 drives the connection ring 17 to move upward, the other end of the mounting rod 15 pushes the hanging ring 13 toward the inner wall of the mounting frame 2 through the fixing ring 14, so that the two hanging rings 13 move away from each other;

[0055] The hanging ring 13 drives the first gear 6 and the connecting rod 5 to swing through the supporting rod 12. When the connecting rod 5 swings, the supporting ring 20 rotates along the square opening 11 through the rotating shaft 25. When the two connecting rods 5 tilt in the direction of separation, the two clamping rollers 3 will swing relative to each other and approach each other. When the two clamping rollers 3 approach each other, the product can be clamped between the two clamping rollers 3.

[0056] The hydraulic rod 27 drives the connecting ring 17 to move downward, causing the end of the mounting rod 15 connected to the connecting ring 17 to swing downward, and then the other end of the mounting rod 15 pulls the hanging ring 13 to swing in the direction of the hydraulic rod 27 through the fixing ring 14, thereby causing the two first gears 6 and the connecting rod 5 to swing relative to each other, and then the clamping rollers 3 will swing away from each other, and the product can be released and put down.

[0057] See also Figure 2-Figure 3The mounting frame 2 is provided with two strip-shaped openings 8 for the fixing rod 7 to swing forward, backward, left and right, and the fixing rod 7 is located inside the strip-shaped openings 8 .

[0058] The strip opening 8 provides a swingable space for the two fixing rods 7 to avoid affecting the swingable effect of the fixing rods 7 .

[0059] Working principle:

[0060] The main body 1 of the hanging conveying equipment is equipped with a lift, and the installation frame 2 is fixed at the bottom of the lifting mechanism. The lifting mechanism can drive the installation frame 2 to rise and fall. When materials are put into the warehouse, the custodian first needs to fill in the corresponding warehouse location, material information and quantity on the "warehouse entry" module on the PDA or PAD, and then use the main body 1 of the hanging conveying equipment to transport the products in the warehouse. When the materials need to be shipped out of the warehouse, the custodian fills in the corresponding warehouse location, material information and quantity on the "warehouse exit" module on the PDA or PAD. The PDA or PAD transmits the data to the electronic material card on the corresponding warehouse location through the wireless network. The electronic material card subtracts the outbound quantity from the original inventory data to become the new inventory (the WMS also generates new inventory data according to its own logic). At the same time, a new two-digit code is generated on the electronic material card; then the product materials are sent out;

[0061] It is worth noting that when entering the warehouse, the PDA or PAD is connected to the electronic material card under its jurisdiction through the wireless network. The electronic material card is only connected to the PDA or PAD, not to the WMS. Also, when the product material enters the warehouse, the PDA or PAD transmits the data to the electronic material card on the corresponding warehouse through the wireless network. The electronic material card adds the new inventory quantity to the original inventory data to become the new inventory (the WMS also generates new inventory data according to its own logic). At the same time, a new QR code is generated on the electronic material card. The QR code contains the part number and inventory quantity.

[0062] Afterwards, the lifting mechanism on the main body 1 of the hanging conveying device is used to drive the clamping mechanism to move downward. When the clamping mechanism clamps the product, the lifting mechanism drives the clamping mechanism to move upward to keep the product away from the ground, and then transports the product to other processes through the main body 1 of the hanging conveying device;

[0063] The hydraulic rod 27 controls the connection ring 17 to move up and down, thereby causing one end of the two mounting rods 15 connected to the connection ring 17 to swing, and the support rod 16 supports the mounting rod 15 so that the mounting rod 15 can swing with the support rod 16 as a fulcrum. When the hydraulic rod 27 drives the connection ring 17 to move upward, the other end of the mounting rod 15 pushes the hanging ring 13 toward the inner wall of the mounting frame 2 through the fixing ring 14, so that the two hanging rings 13 move away from each other. The hanging ring 13 drives the first gear 6 and the connecting rod 5 to swing through the support rod 12. When the connecting rod 5 swings, the support ring 20 rotates along the square opening 11 through the rotating shaft 25;

[0064] When the two connecting rods 5 are tilted in the direction of separation, the two clamping rollers 3 will swing relative to each other and approach each other. After the two clamping rollers 3 approach each other, the product can be clamped between the two clamping rollers 3. The hydraulic rod 27 drives the connecting ring 17 to move downward, so that the end of the mounting rod 15 connected to the connecting ring 17 swings downward, and then the other end of the mounting rod 15 pulls the hanging ring 13 to swing in the direction of the hydraulic rod 27 through the fixing ring 14, thereby making the two first gears 6 and the connecting rod 5 swing relative to each other, and then the clamping rollers 3 will swing away from each other and move away. At this time, the product can be released and put down.

[0065] The support ring 20 is connected to the square opening 11 through the rotating shaft 25, so that the support ring 20 can rotate along the square opening 11 through the rotating shaft 25, and the inner wall of the mounting ring 26 is fixedly connected to the connecting rod 5. The upper mounting ring 26 is supported on the top of the support ring 20 to prevent the connecting rod 5 and the clamping roller 3 from falling. The lower mounting ring 26 is against the bottom of the support ring 20 to prevent the connecting rod 5 from being pulled out of the support ring 20 when the fixing ring 14 pulls the hanging ring 13. At the same time, the square opening 11 provides a swinging space for the connecting rod 5 and the support ring 20. When the clamping roller 3 swings, the connecting rod 5 and the clamping roller 3 tilt. The support ring 20 rotates along the square opening 11 through the rotating shaft 25 so that the support ring 20 can tilt, thereby causing the clamping roller 3 and the connecting rod 5 to tilt together.

[0066] When the two clamping rollers 3 clamp the product, it is impossible to accurately guarantee that the symmetric center of the product can be accurately clamped every time. Therefore, the product will tilt due to unstable center of gravity after being clamped. The top of the product is close to the balance plate 9. Therefore, after the product tilts, the product takes the area in contact with the clamping roller 3 as the center point, and one side of the product will swing upward, while the other side will swing downward. The side that swings upward pushes one side of the balance plate 9 to tilt upward together. The balance plate 9 itself is relatively wide, and one side extends between the two clamping rollers 3. The clamped product is also located between the two clamping rollers 3. Therefore, after the product tilts, it can completely contact the balance plate 9.

[0067] When one side of the balancing plate 9 is pushed and tilted upward, it will rotate along the inner wall of the connecting rod 5 through the rotating rod 19, so that the balancing plate 9 can swing. Since the balancing plate 9 is connected to the connecting rod 5 through the rotating rod 19, the balancing plate 9 will swing along with the connecting rod 5 when the connecting rod 5 and the clamping roller 3 swing relative to each other or away from each other.

[0068] The center of gravity of an object is Figure 3 When the object is on the right side, the right side of the object tilts downward, while the left side of the object tilts upward and pushes the left sides of the two balance plates 9 to swing upward at the same time. The left side of the balance plate 9 drives the left fixed rod 7 to swing to the upper right, while the right side of the balance plate 9 drives the right fixed rod 7 to swing to the lower left, thereby causing the annular gear ring 10 to swing to the lower right.

[0069] The motion trajectory of the annular gear ring 10 when swinging is arc-shaped, so the shape of the annular gear ring 10 itself is the same as the swing trajectory of the annular gear ring 10, so the annular gear ring 10 can mesh with the teeth on the first gear 6 through the protrusions in a stationary state, and when swinging in the arc-shaped trajectory, the teeth on the outer wall of the annular gear ring 10 can also mesh with the teeth on the outer wall of the first gear 6, so when the annular gear ring 10 swings, the first gear 6 can be driven to rotate through the meshing between the teeth;

[0070] When the annular gear ring 10 swings toward the lower right, it drives the first gear 6 to rotate rightward, that is, clockwise. When the first gear 6 rotates clockwise, it drives the connecting rod 5 and the clamping roller 3 to rotate clockwise together. When the clamping roller 3 rotates clockwise, it moves to the right along the product. When the clamping roller 3 moves to the right along the product, the contact surface between the clamping roller 3 and the product will change. With the rotation of the clamping roller 3, the supporting point of the clamping roller 3 and the product will move to the right. If the center of gravity of the product is Figure 3 , then on the contrary the clamping roller 3 will rotate counterclockwise and move to the left along the product. When the support point moves toward the heavier side of the product, with the movement of the support point, the relative position relationship between the support force and the gravity changes for the product as a whole. At this time, with the support point as the fulcrum, the torque generated by the gravity and the torque generated by the support force will be readjusted, and the center of gravity will gradually approach the center area of ​​the support surface. When the center of gravity is close to the center of the support surface, the torque of the product in all directions tends to be balanced, so that it can return to a parallel state.

[0071] The distance and position of each product on the main body 1 of the hanging conveyor device are set in advance, so when clamping the product, it will not deviate far from the symmetry point. Therefore, the center of gravity of the clamping roller 3 can be adjusted to a position close to the center of the support surface within one rotation or even within a circle, so that the product returns to a parallel state;

[0072] At the beginning, the product is clamped by two clamping rollers 3. Due to the shift of the center of gravity, the product tilts. When the clamping rollers 3 are rotated to move toward the side where the product is deviated downward, it is like adjusting an unbalanced seesaw. When the two clamping rollers 3 contact the side where the product is deviated downward, they actually give this side an upward support force. However, because the product is tilted, in order to make it flat, this support force will cause the product to rotate and translate slightly. In this process, the product will move in a direction that can make the center of gravity more stable, and this direction is often slightly downward. When the product finally becomes parallel, the position where it re-contacts the clamping rollers 3 drops to the area below the original first clamping point.

[0073] Depending on the different inclination angles of the product, the distance the product descends cannot be guaranteed. When placing the product on the next process, if the height of the product changes, then when the lifting mechanism moves the product downward and places it on the platform, a situation may occur that the position of the product on the two clamping rollers 3 drops due to the change in the center of gravity of the product during the clamping and adjustment process, and the clamping height of the clamping mechanism and the action of the lifting mechanism are uniformly set in advance. When the bottom of the product touches the platform, the lifting mechanism continues to move downward because it operates according to the original settings and has not yet sensed that the product is in place. The distance this continues to move downward is the actual height of the product, that is, the difference between the height of the initial clamped position of the product and the final height of the position on the two clamping rollers 3 after the center of gravity is adjusted;

[0074] Therefore, the slide 4 is sleeved on the clamping roller 3. When the two clamping rollers 3 approach and clamp the product, the position where the product is clamped contacts the outer wall of the slide 4. There is a notch on the other side of the slide 4. The upper and lower sides of both ends of the slide 4 are slidably buckled in the slide groove 18 through the slider 21. The shape of the slide groove 18 is two opposite arcs. Since the slide 4 is in close contact with the product, when the product tilts, the slide 4 will tilt along the outer wall of the clamping roller 3 and follow the direction of the object.

[0075] like Figure 4 When the right side of the product tilts downward, the right end of the slide 4 also tilts downward. Figure 4 The notch of the middle slide 4 and the position of the slide groove 18 are initially located at a position opposite to the product. When the right end of the slide 4 also tilts downward, the right end of the slide 4 will move along the Figure 4 The middle slide groove 18 swings in the lower right direction. When the slide plate 4 swings, it slides along the slide groove 18 through the slider 21. The connection between the slider 21 and the slide groove 18 mainly prevents the slide plate 4 from falling off the clamping roller 3. At the same time, the slider 21 can also slide along the swinging track of the slide plate 4. The shape of the slide groove 18 is the same as the swinging track of the slide plate 4, avoiding movement conflict.

[0076] Figure 4 When the right end of the middle slide 4 swings to the lower right, the left end of the slide 4 will swing to the upper left. On the contrary, when the left end of the slide 4 swings to the lower left, it means that the left side of the product tilts downward, and the right side of the product tilts upward, and the right end of the slide 4 will also tilt to the upper right. When the slide 4 tilts, the slider 21 slides, and the slider 21 drives the arc-shaped rack 22 to slide with the slide 4. Figure 5 When the arc-shaped rack 22 on the left side swings upward, the second gear 23 rotates clockwise, and the arc-shaped rack 22 on the right side swings downward; when the arc-shaped rack 22 on the left side swings downward, the second gear 23 rotates counterclockwise, and the arc-shaped rack 22 on the right side swings upward;

[0077] When the clamping roller 3 rotates to flatten the product, the servo motor 24 drives the second gear 23 to rotate at the same time, and the second gear 23 drives the two arc-shaped racks 22 to slide, so that the two arc-shaped racks 22 slide to the initial position, and then the slide 4 swings to the initial position, and the slide 4 is pulled back to the original position. When the clamping roller 3 rotates, the slide 4 moves along the product, and when the slide 4 moves along the product, it is also pulled back upward by the slider 21 and the arc-shaped rack 22, and the product on the slide 4 will also move up with the slide 4. When the slide 4 returns to the initial position, the product is also pulled upward back to the original position;

[0078] The strip opening 8 provides a swingable space for the two fixed rods 7, while the through opening 28 and the square opening 11 provide a swingable area for the connecting rod 5. The intelligent suspension conveying system is generally equipped with an advanced control system, which can accurately control the actions of various actuators through programming and sensor feedback. Therefore, the speed, direction, start and stop of the servo motor 24 can be adjusted through the control system to achieve different conveying speeds and direction controls;

[0079] The hydraulic rod 27 can also be used in intelligent suspension conveying systems, such as for lifting and lowering operations. The control system can accurately control the pressure, flow and action sequence of the hydraulic system according to preset programs and sensor signals, thereby realizing automatic extension, retraction, lifting and other actions of the hydraulic rod 27.

Claims

1. An intelligent suspension conveying system for a duckbill loader, characterized in that: include, A mounting frame (2) having a mounting cavity therein; Two symmetrically arranged clamping rollers (3), at least partially protruding from the bottom of the mounting frame (2), and used for clamping an object; Two connecting members are symmetrically arranged on the mounting frame (2), and at least one of the two connecting members has a rotating part that is free to swing toward each other, and the clamping roller (3) is rotatably connected to the rotating part, so that the clamping roller (3) can rotate around its axis; The trigger mechanism comprises at least a balance plate (9) rotatably arranged on a clamping roller (3) protruding from the bottom of the mounting frame (2), wherein the balance plate (9) and the clamping roller (3) are provided with a matching gear assembly, and when the clamped object deviates and contacts the balance plate (9), the gear assembly is used to adaptively drive the clamping roller (3) to rotate to a balance point; The gear assembly comprises two annular gear rings (10) symmetrically arranged inside the installation cavity, a first gear (6) meshing with the annular gear rings (10) is arranged on the clamping roller (3), and the trigger mechanism further comprises: A connecting rod (5), the bottom end of which is connected to the top of the clamping roller (3), and the top end of the connecting rod (5) extends into the interior of the mounting frame (2) and is connected to the outer wall of the first gear (6); A rotating rod (19) is inserted into the connecting rod (5), with both ends extending to the outside of the connecting rod (5); the balancing plate (9) is connected to the outer wall of the rotating rod (19); the balancing plate (9) is provided with a through opening (28) located outside the connecting rod (5); and the connecting rod (5) is located inside the through opening (28); The two fixing rods (7) are symmetrically mounted on the top of the balance plate (9); the outer walls of the fixing rods (7) are connected to the outer wall of the annular gear ring (10); and the two fixing rods (7) are respectively located at two ends of the annular gear ring (10).

2. The intelligent suspension conveying system for a duckbill loader according to claim 1, characterized in that: The connecting member comprises two square openings (11) formed on the mounting frame (2), and a support ring (20) sleeved on the outer wall of the connecting rod (5). The rotating part comprises a rotating shaft (25) rotatably connected between the outer walls of the two support rings (20) and the inner wall of the square opening (11); Two mounting rings (26) are installed on the outer wall of the connecting rod (5); the supporting ring (20) is located between the two mounting rings (26); the top of the supporting ring (20) abuts against the bottom of the upper mounting ring (26); the bottom of the supporting ring (20) abuts against the top of the lower mounting ring (26); and the connecting rod (5) is located inside the square opening (11).

3. The intelligent suspension conveying system for a duckbill loader according to claim 2, characterized in that: The outer wall of the clamping roller (3) is sleeved with a slide plate (4), the inner wall of the slide plate (4) is in close contact with the outer wall of the clamping roller (3), the clamping roller (3) is provided with a slide groove (18), two arc-shaped racks (22) are arranged in the slide groove (18), both ends of the arc-shaped racks (22) are connected with sliders (21), the sliders (21) and the slide groove (18) are slidably engaged, a second gear (23) is meshed and connected between the two arc-shaped racks (22), the second gear (23) is located between the two arc-shaped racks (22), a part of the inner wall of the slide plate (4) is located on one side of the slide groove (18) and is connected to the outer wall of the slider (21), and the slide groove (18) is located on the side opposite to the two clamping rollers (3).

4. The intelligent suspension conveying system for a duckbill loader according to claim 3, characterized in that: The shape of the slide groove (18) is the same as the swinging trajectory of the two ends of the slide plate (4).

5. The intelligent suspension conveying system for a duckbill loader according to claim 4, characterized in that: A servo motor (24) is installed on the inner wall of the slide groove (18), and a driving end of the servo motor (24) is connected to the outer wall of the second gear (23).

6. The intelligent suspension conveying system for a duckbill loader according to claim 5, characterized in that: A clamping mechanism is arranged in the installation frame (2), and the clamping mechanism comprises a support rod (12) whose bottom end is rotatably connected to the top of the first gear (6); a hanging ring (13) is installed on the top of the support rod (12); a fixing ring (14) is sleeved on the hanging ring (13); a mounting rod (15) is installed on the outer wall of the fixing ring (14); a connecting ring (17) is arranged in the installation frame (2); a through hole is formed on the outer wall of the two mounting rods (15) at one end away from the fixing ring (14); the connecting ring (17) is sleeved between the two through holes; the inner wall of the through hole abuts against the outer wall of the connecting ring (17); a hydraulic rod (27) is installed on the inner bottom wall of the installation frame (2); the telescopic end of the hydraulic rod (27) is connected to the outer wall of the connecting ring (17); a support rod (16) is installed on the inner wall of the installation frame (2); the outer wall of the mounting rod (15) abuts against the outer wall of the support rod (16).

7. The intelligent suspension conveying system for a duckbill loader according to claim 6, characterized in that: The installation frame (2) is provided with two strip-shaped openings (8) for the fixing rod (7) to swing forward, backward, left and right, and the fixing rod (7) is located inside the strip-shaped openings (8).

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