Automatic car loader

Abstract

The invention relates to the technical field of logistics equipment, in particular to an automatic car loader which comprises an upper rack, a main conveying part is arranged on the lower side of the upper rack, a main hinge frame is arranged at one end of the upper rack, the conveying upstream end of the main conveying part is arranged in the main hinge frame in a hinged mode, and a pitching traction part and a left-right swing part are arranged between the upper rack and the main conveying part; the automatic car loader further comprises a motion controller which is used for motion control of the automatic car loader. The main hinge frame is arranged between the upper rack and the main conveying part, so that the main conveying part has pitching and left-right shaking action adjustment, and the loading action is more flexible and controllable.

Description

Technical Field

[0001] The present invention relates to the technical field of logistics equipment, and in particular to an automatic loading machine. Background Art

[0002] Loaders are used to continuously load materials or items into carriages and are widely used in logistics centers, corporate warehouses, post offices, express delivery, airports, and fertilizer, cement, flour, food and other companies for loading goods. For belt conveyor loaders, it is usually necessary to manually adjust the position of materials to ensure the orderly loading, which not only consumes manpower, but the dust in the working environment can also cause physical damage to workers. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide an automatic loader in response to the above-mentioned technical deficiencies. A main articulated frame is arranged between the upper frame and the main conveying part, so that the main conveying part has pitch and left and right swing adjustment, making the loading action more flexible and controllable, and solving the problem of manpower consumption in the existing loading process.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is an automatic loader, including an upper frame, a main conveying part is provided on the lower side of the upper frame, a main articulated frame is provided at one end of the upper frame, the upstream end of the main conveying part is hinged in the main articulated frame, and a pitch pulling part and a left and right swing part are provided between the upper frame and the main conveying part; and also includes a motion controller, which is used for motion control of the automatic loader.

[0005] To further optimize the technical solution, the main conveying part includes a main conveying frame, in which a plurality of groups of belt conveyors connected end to end are arranged, each group of belt conveyors is provided with a corresponding belt group motor, and the main conveying frame is provided with two guide plates, the two guide plates are arranged on the upper side of the plurality of groups of belt conveyors, and a position adjustment rod is provided between the guide plates and the main conveying frame.

[0006] To further optimize the technical solution, the pitching and pulling part includes a winch, the winch is arranged in the upper frame, a suspension position is arranged in the middle of the length direction of the main conveying part, and the pulling wire extended from the winch is connected to the suspension position; Coaxial shaft sleeves are respectively arranged on both sides of the lower part of the main articulated frame, and a horizontally arranged articulated shaft is rotatably connected in the shaft sleeve, and the articulated shaft is connected to the main conveying part.

[0007] To further optimize the technical solution, a longitudinal translation rail is provided on the lower side of the upper frame, a longitudinal movement chassis is provided at the bottom of the upper frame, a longitudinal movement motor is provided in the longitudinal movement chassis, and the upper frame moves along the translation rail with the longitudinal movement chassis.

[0008] Further optimizing the technical solution, the left and right swinging part includes a transverse chassis, the transverse chassis is connected to the lower part of the winch, a transverse rail is provided in the upper frame, the transverse chassis is arranged to move horizontally left and right along the transverse rail, and a swing driving mechanism is provided between the transverse chassis and the upper frame; A main plane thrust bearing is provided on the upper middle side of the articulated shaft, and the main plane thrust bearing is arranged between the articulated shaft and the main conveying part. A main positioning shaft is provided at a position corresponding to the main conveying part and the main plane thrust bearing. The main positioning shaft and the axis line of the articulated shaft are perpendicular to each other, and the main positioning shaft is passed through the main plane thrust bearing.

[0009] To further optimize the technical solution, the swing drive mechanism includes a main sprocket and a driven sprocket, a chain is wound between the main sprocket and the driven sprocket, both ends of the chain are fixedly connected to the two sides of the transverse chassis, and the main sprocket is transmission-connected to the transverse motor.

[0010] To further optimize the technical solution, a secondary conveying portion is hingedly connected downstream in the conveying direction of the main conveying portion, the secondary conveying portion includes a secondary conveying frame, a secondary conveyor is installed in the secondary conveying frame, a cantilever frame is provided on one side of the secondary conveying frame, a hinge plate is provided on the lower side of the cantilever frame, a secondary hinged frame is provided at a position corresponding to the main conveying frame and the hinged plate, limit plates are respectively provided on both sides of the bottom of the secondary hinged frame, both sides of the hinged plate are rotatably connected to the limit plates through horizontally arranged secondary shafts, and a secondary frame pitch adjustment mechanism is provided on the upper side between the secondary hinged frame and the secondary conveying frame.

[0011] To further optimize the technical solution, a secondary plane thrust bearing is provided on the lower side of one end of the cantilever frame away from the secondary conveyor frame, the secondary plane thrust bearing is arranged between the hinge plate and the cantilever frame, and a secondary positioning shaft is provided at the position corresponding to the cantilever frame and the secondary plane thrust bearing, and the secondary positioning shaft and the secondary shaft; One end of a swing synchronization rope is respectively connected to both sides of the auxiliary conveying frame, and the other ends of the two swing synchronization ropes are respectively connected to one side of the bottom of the main hinged beam.

[0012] To further optimize the technical solution, a left and right distance measuring sensor and a front and rear distance measuring sensor are provided at the bottom of the hinged plate, and the left and right distance measuring sensors and the front and rear distance measuring sensors are respectively communicatively connected to the signal input end of the motion controller.

[0013] To further optimize the technical solution, a proximity sensor is provided upstream of the conveying path of each group of belt conveyors, the proximity sensor is communicatively connected to the signal input end of the motion controller, and the belt group motor is electrically connected to the signal output end of the motion controller.

[0014] Compared with the prior art, the present invention has the following advantages: 1. By setting a main articulated frame between the upper frame and the main conveying part, the main conveying part can be adjusted in pitch and left and right motions, making the loading action more flexible and controllable; 2. By setting up multiple groups of belt conveyors connected end to end in the main conveying section, in conjunction with proximity sensors and motion controllers, it is possible to effectively avoid the occurrence of package stacking during loading and ensure the orderly progress of the loading process; 3. By setting up the auxiliary conveying part and cooperating with the swinging synchronous ropes on both sides, the direction of the final output of the material by the auxiliary conveying part can be kept consistent, which can ensure that the angle of the material is consistent with the carriage when it is loaded. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall layout of an automatic loader from the side; Figure 2 This is a schematic diagram of the forward layout of an automatic loading machine; Figure 3 for Figure 1 Sectional view at AA in the middle; Figure 4 for Figure 1 Sectional view at the middle BB; Figure 5 A schematic diagram of the structure of the main conveying part; Figure 6 This is a schematic diagram of the structure of the lower side of the auxiliary conveyor.

[0016] In the figure: 1, upper frame; 100, pulling wire; 11, translation rail; 12, main articulated frame; 121, shaft sleeve; 13, winch; 131, longitudinal chassis; 1311, longitudinal motor; 132, transverse chassis; 134, suspension pulley; 14, transverse rail; 140, transverse motor; 141, main sprocket; 142, driven sprocket; 143, chain; 2, main conveying part; 200, main conveying frame; 20, articulated shaft; 201, main plane thrust bearing; 21, first hanging point; 211, second hanging point; 212, movable pulley; 22, main positioning shaft; 23, belt conveyor; 231, belt group motor; 24, guide plate; 241, position adjustment rod; 242, lever; 25, auxiliary articulated frame; 251, limit plate; 26, fall arrester; 3, auxiliary conveying part; 31, auxiliary conveyor; 32, auxiliary conveying frame; 33, cantilever frame; 331, auxiliary positioning shaft; 34, auxiliary plane thrust bearing; 35, articulated plate; 351, auxiliary shaft; 36, left and right distance measuring sensors; 37, front and rear distance measuring sensors; 4, swing synchronization rope. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the reference drawings of specific embodiments. It should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0018] Unless otherwise defined, the technical or scientific terms used herein shall have the common meanings understood by persons having ordinary skills in the field to which the present invention belongs. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0019] Combination Figures 1 to 2 As shown, an automatic loading machine includes an upper frame 1 and a programmable motion controller. A longitudinal moving chassis 131 is provided at the bottom of the upper frame 1. A longitudinal moving motor 1311 is provided in the longitudinal moving chassis 131. Two longitudinal translation rails 11 parallel to each other are provided at the lower side of the upper frame 1. The upper frame 1 moves along the translation rails 11 along with the longitudinal moving chassis 131. The longitudinal moving motor 1311 is electrically connected to the motion controller. A main conveying part 2 is provided at the lower side of the upper frame 1. The main conveying part 2 includes a main conveying frame 200. A main articulated frame 12 is provided at one end of the main conveying frame 200, and the upstream end of the main conveying part 2 is hinged in the main articulated frame 12. A pitch pulling part and a left and right swing part are provided between the upper frame 1 and the main conveying part 2; the motion controller is used for motion control of the automatic loader.

[0020] Combination Figure 3 As shown, coaxial sleeves 121 are provided on both sides of the lower part of the main articulated frame 12, and a horizontally arranged articulated shaft 20 is rotatably connected in the sleeve 121, and the articulated shaft 20 is connected to the main conveying part 2. A main plane thrust bearing 201 is provided on the upper side of the middle part of the articulated shaft 20, and the main plane thrust bearing 201 is provided between the articulated shaft 20 and the main conveying part 2. A main positioning shaft 22 is provided at a position corresponding to the main conveying part 2 and the main plane thrust bearing 201. The main positioning shaft 22 is perpendicular to the axis of the articulated shaft 20, and the main positioning shaft 22 is passed through the main plane thrust bearing 201. Figures 1 to 2As shown, the pitch pulling part includes a winch 13, which is arranged in the upper frame 1. A suspension position is provided in the middle of the length direction of the main conveying part 2, and the pulling wire 100 extending from the winch 13 is connected to the suspension position. The suspension position includes two groups with mirror symmetry, and each group of suspension positions includes two suspension points, which are a first suspension point 21 and a second suspension point 211 arranged side by side. The end of a single pulling wire 100 is connected to the first suspension point 21, and a longitudinally arranged suspension pulley 134 is provided on the top of the first suspension point 21. The suspension pulley 134 is arranged at the bottom of the transverse chassis 132, and a movable pulley 212 is provided at the second suspension point 211. The single pulling wire 100 takes the first suspension point 21 as the starting point, and is sequentially wound around the suspension pulley 134 and the second suspension point 211 and then connected to the winding barrel of the winch 13. The winch 13 is provided with two symmetrical winding barrels, and the two winding barrels are respectively connected to the two groups of suspension positions through the corresponding single pulling wire 100. A fall arrester 26 is also connected between the upper frame 1 and the main conveying frame 200. When in use, by setting two sets of suspension positions, the connection stability between the transverse chassis 132 and the main conveying part 2 is increased, and harmful shaking caused by the flexibility of the pulling wire 100 can be avoided to a certain extent.

[0021] The left-right swinging part includes a transverse chassis 132, which is connected to the lower part of the winch 13, and a transverse rail 14 is provided in the upper frame 1. The transverse chassis 132 is arranged to move horizontally left and right along the transverse rail 14, and a swing driving mechanism is provided between the transverse chassis 132 and the upper frame 1. The swing driving mechanism includes a main sprocket 141 and a driven sprocket 142, and a chain 143 is wound between the main sprocket 141 and the driven sprocket 142, and both ends of the chain 143 are fixedly connected to the two sides of the transverse chassis 132, and the main sprocket 141 is in driving connection with the transverse motor 140.

[0022] When in use, the main conveyor frame 200 can achieve a pitching motion relative to the upper frame 1 due to the cooperation between the hinge shaft 20 and the shaft sleeve 121, and the main conveyor frame 200 can be adjusted in the left and right directions relative to the upper frame 1 by the arrangement of the main plane thrust bearing 201. The winch 13 pulls the main conveyor frame 200 to provide power for the pitching motion, and the swing drive mechanism drives the main conveyor frame 200 to swing left and right.

[0023] Combination Figure 5 As shown, a plurality of groups of belt conveyors 23 connected end to end are provided in the main conveyor frame 200, and a corresponding belt group motor 231 is provided in each group of belt conveyors 23. Two guide plates 24 are provided in the main conveyor frame 200, and the two guide plates 24 are arranged on the upper side of the plurality of groups of belt conveyors 23. A position adjustment rod 241 is provided between the guide plate 24 and the main conveyor frame 200. A lever 242 is provided at one end of the transmission path of the two guide plates 24, and the lever 242 blocks one side of the material to realize the material falling and rotating 90 degrees at the same time, so as to achieve the purpose of adjusting the material angle.

[0024] A proximity sensor is provided upstream of the conveying path of each group of belt conveyors 23 , and the proximity sensor is communicatively connected to the signal input end of the motion controller, and the belt group motor 231 is electrically connected to the signal output end of the motion controller.

[0025] Combination Figures 4 to 6 As shown, a secondary conveying portion 3 is hingedly connected downstream in the conveying direction of the main conveying portion 2, and the secondary conveying portion 3 includes a secondary conveying frame 32, in which a secondary conveyor 31 is installed, a cantilever frame 33 is provided on one side of the secondary conveying frame 32, a hinge plate 35 is provided on the lower side of the cantilever frame 33, and a secondary plane thrust bearing 34 is provided on the lower side of one end of the cantilever frame 33 away from the secondary conveying frame 32, and the secondary plane thrust bearing 34 is arranged between the hinge plate 35 and the cantilever frame 33, and a secondary positioning shaft 331 is provided at the position corresponding to the cantilever frame 33 and the secondary plane thrust bearing 34, and the secondary positioning shaft 331 and the secondary shaft 351 are connected.

[0026] A sub-articulated frame 25 is provided at the position corresponding to the main conveying frame 200 and the hinge plate 35, and a limit plate 251 is provided on both sides of the bottom of the sub-articulated frame 25, and both sides of the hinge plate 35 are rotatably connected to the limit plate 251 through a horizontally arranged secondary shaft 351, and a sub-frame pitch adjustment mechanism is provided on the upper side between the sub-articulated frame 25 and the sub-conveyor frame 32. One end of the swing synchronization rope 4 is connected to both sides of the sub-conveyor frame 32, and the other ends of the two swing synchronization ropes 4 are connected to one side of the bottom of the main hinge beam 20. When in use, the swing synchronization ropes 4 are equal in length, and the sub-conveyor frame 32, the main hinge beam 20 and the two swing synchronization ropes 4 form a parallelogram structure. When the main conveying frame 200 swings to the left or right side driven by the transverse chassis 132, the conveying direction of the sub-conveyor 3 is always kept parallel to the two sides of the vehicle by pulling the swing synchronization rope 4.

[0027] Combination Figure 4 As shown, a left-right distance measuring sensor 36 and a front-back distance measuring sensor 37 are provided at the bottom of the hinge plate 35, and the left-right distance measuring sensor 36 and the front-back distance measuring sensor 37 are respectively connected to the signal input end of the motion controller for communication.

[0028] When using, combine Figures 1 to 6 As shown, the materials to be loaded are placed upstream of the main conveyor frame 200 in the conveying direction, and finally conveyed to the downstream of the auxiliary conveying part 3 of the automatic loader to complete the material drop loading. When the proximity sensor in the corresponding belt conveyor 23 senses that materials have entered the detection range, the corresponding belt conveyor 23 is started to operate through the action controller. When there is no material in the next adjacent group of belt conveyors 23, it can continue to be transferred downward. When there is material in the next adjacent group of belt conveyors 23 and it is in a stopped state, the corresponding belt conveyor 23 is controlled by the action controller to stop operating to avoid the occurrence of bag stacking.

[0029] The distance between the side wall of the carriage and the auxiliary conveying part 3 is detected by the left and right distance measuring sensors 36 and the front and rear distance measuring sensors 37, so as to determine the specific position of the stacking when loading in the carriage. The main conveying frame 200 of the automatic loader can realize the longitudinal movement along the translation rail 11 to meet the loading requirements of different positions, that is, Figure 1 The X-direction mobile stacking in the middle, in conjunction with the pitching pulling part and the left and right swinging part connected to the main conveyor frame 200, can realize the loading height and loading at different positions in the left and right directions, that is, Figure 1 Palletizing is performed in the y and z directions of the coordinate system.

[0030] Obviously, the described embodiments are only some embodiments of the present invention, not all 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.

Claims

1. An automatic loading machine, characterized in that: The invention comprises an upper frame (1), a main conveying part (2) is arranged at the lower side of the upper frame (1), a main articulated frame (12) is arranged at one end of the upper frame (1), an upstream end of the main conveying part (2) is hingedly arranged in the main articulated frame (12), a pitch pulling part and a left-right swinging part are arranged between the upper frame (1) and the main conveying part (2); and also comprises a motion controller, which is used for motion control of the pitch pulling part and the left-right swinging part of the automatic loader.

2. The automatic loading machine according to claim 1, characterized in that: The main conveying part (2) comprises a main conveying frame (200), wherein a plurality of groups of belt conveyors (23) connected end to end are arranged in the main conveying frame (200), each group of the belt conveyors (23) is respectively provided with a corresponding belt group motor (231), and two guide plates (24) are arranged in the main conveying frame (200), and the two guide plates (24) are arranged on the upper side of the plurality of groups of the belt conveyors (23), and a position adjustment rod (241) is arranged between the guide plates (24) and the main conveying frame (200).

3. The automatic loading machine according to claim 1, characterized in that: The pitch pulling part comprises a winch (13), the winch (13) is arranged in the upper frame (1), a suspension position is provided in the middle of the length direction of the main conveying part (2), and a pulling wire (100) extending from the winch (13) is connected to the suspension position; Coaxial shaft sleeves (121) are respectively provided on both sides of the lower part of the main articulated frame (12), and a horizontally arranged articulated shaft (20) is rotatably connected inside the shaft sleeve (121), and the articulated shaft (20) is connected to the main conveying part (2).

4. The automatic loading machine according to claim 3, characterized in that: A longitudinal translation rail (11) is provided at the lower side of the upper frame (1), a longitudinal translation chassis (131) is provided at the bottom of the upper frame (1), a longitudinal translation motor (1311) is provided inside the longitudinal translation chassis (131), and the upper frame (1) is arranged to move along the translation rail (11) along with the longitudinal translation chassis (131).

5. The automatic loading machine according to claim 3, characterized in that: The left-right swinging part comprises a transverse chassis (132), the transverse chassis (132) is connected to the lower part of the winch (13), a transverse rail (14) is provided in the upper frame (1), the transverse chassis (132) is arranged to move laterally left and right along the transverse rail (14), and a swing driving mechanism is provided between the transverse chassis (132) and the upper frame (1); A main plane thrust bearing (201) is provided on the upper middle side of the hinge shaft (20); the main plane thrust bearing (201) is arranged between the hinge shaft (20) and the main conveying part (2); a main positioning shaft (22) is provided at a position corresponding to the main conveying part (2) and the main plane thrust bearing (201); the main positioning shaft (22) and the axis of the hinge shaft (20) are perpendicular to each other; the main positioning shaft (22) is passed through the main plane thrust bearing (201).

6. The automatic loading machine according to claim 5, characterized in that: The swing drive mechanism comprises a main sprocket (141) and a driven sprocket (142), a chain (143) is wound between the main sprocket (141) and the driven sprocket (142), two ends of the chain (143) are fixedly connected to two sides of the transverse chassis (132), and the main sprocket (141) is transmission-connected to the transverse motor (140).

7. The automatic loading machine according to claim 2, characterized in that: A secondary conveying part (3) is hingedly connected downstream of the main conveying part (2) in the conveying direction. The secondary conveying part (3) comprises a secondary conveying frame (32). A secondary conveyor (31) is installed in the secondary conveying frame (32). A cantilever frame (33) is provided on one side of the secondary conveying frame (32). A hinge plate (35) is provided on the lower side of the cantilever frame (33). A secondary hinge frame (25) is provided at a position corresponding to the main conveying frame (200) and the hinge plate (35). Limiting plates (251) are respectively provided on both sides of the bottom of the secondary hinge frame (25). Both sides of the hinge plate (35) are rotatably connected to the limiting plates (251) through horizontally arranged secondary shafts (351). A secondary frame pitch adjustment mechanism is provided on the upper side between the secondary hinge frame (25) and the secondary conveying frame (32).

8. The automatic loading machine according to claim 7, characterized in that: A secondary plane thrust bearing (34) is provided at the lower side of one end of the cantilever frame (33) away from the secondary conveying frame (32); the secondary plane thrust bearing (34) is arranged between the hinge plate (35) and the cantilever frame (33); a secondary positioning shaft (331) is provided at a position corresponding to the cantilever frame (33) and the secondary plane thrust bearing (34); the secondary positioning shaft (331) is connected to the secondary shaft (351); One end of a swing synchronization rope (4) is respectively connected to both sides of the auxiliary conveying frame (32), and the other ends of the two swing synchronization ropes (4) are respectively connected to both sides of the bottom of the main articulated frame (12).

9. The automatic loading machine according to claim 8, characterized in that: A left-right distance measuring sensor (36) and a front-back distance measuring sensor (37) are provided at the bottom of the hinge plate (35), and the left-right distance measuring sensor (36) and the front-back distance measuring sensor (37) are respectively connected to the signal input end of the motion controller for communication.

10. The automatic loading machine according to claim 2, characterized in that: A proximity sensor is provided upstream of the conveying path of each group of the belt conveyors (23), the proximity sensor is communicatively connected to the signal input end of the motion controller, and the belt group motor (231) is electrically connected to the signal output end of the motion controller.

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