Efficient material support removing and loading system and control method thereof

Abstract

The invention provides an efficient material support removing and truck loading system and a control method thereof.The efficient material support removing and truck loading system comprises a material combining mechanism and a material conveying mechanism, the feeding mechanism comprises a support removing position located on one side of the material combining table, a feeding conveying line used for inputting materials with trays to the support removing position, and a discharging conveying line used for outputting the trays on the support removing position. The clamping and holding mechanism is transversely located above the material combining table and the support removing position and used for clamping and holding the materials on the support removing position to a plurality of material combining positions to form combined materials; and the carrying mechanism coaxially and transversely moves on the other side of the material combining table, and the carrying mechanism comprises a material carrying device used for carrying a plurality of combined materials. The combined materials can be rapidly formed and rotate to correspond to the material carrying device, so that the loading mode of carrying out single-row combined material loading on the ton bag materials can be rapidly implemented, the loading efficiency is improved, in addition, the stroke of the clamping mechanism for clamping the ton bag materials to carry out suspended movement can be shortened, and the stability of clamping carrying for completing the tray removing task is improved.

Description

Technical Field

[0001] The present invention relates to the field of loading systems, and in particular to a high-efficiency material unloading and loading system and a control method thereof. Background Art

[0002] At present, the loading system of flatbed trucks mainly includes a gantry running along the ground rails, and a transport mechanism with a fork installed on the gantry or a clamping mechanism installed on the gantry for clamping materials. The gantry moves to the cargo position, and the fork of the transport mechanism takes the material on the pallet or the clamping mechanism only clamps the material on the pallet, and then moves to the corresponding position of the flatbed truck for unloading and loading.

[0003] However, although the above structure realizes the fully automatic loading of materials, for ton bags with large tonnage that need to be removed from pallets for loading, the handling mechanism needs to use the fork and the pallet to pick up the materials, and cannot realize the loading demand of removing the pallet and only loading the ton bags. The clamping mechanism can solve the demand of loading without pallets, but in the actual loading process, the clamping mechanism not only needs to move back and forth between the flatbed truck and the vertical warehouse where the ton bags are stored to suspend and transport the ton bags, but also needs to move left and right to the corresponding position of the flatbed truck for unloading. That is, the clamping mechanism needs to clamp the large-tonnage ton bags for a long time and move them in the air. This handling method will cause the ton bags to slide down, shift or even fall during the suspended movement. If the holding force is excessively increased for this purpose, the ton bags will be damaged. In addition, this handling method requires a long wait in front of the packaging truck for each bag after the first bag, and the handling efficiency is very low.

[0004] Therefore, in view of the problems existing in the above-mentioned prior art, the research purpose of the present invention is to design a flatbed truck loading system that can efficiently remove pallets and transport ton bags for loading. Summary of the invention

[0005] The present invention provides a high-efficiency material unloading and loading system and a control method thereof, which can effectively solve the above-mentioned problems.

[0006] The present invention is achieved in that: An efficient material removal and loading system, comprising: The material combining mechanism comprises a material combining platform driven by a rotary driving device to rotate transversely, wherein the material combining platform comprises a material discharging structure for discharging materials and a plurality of material combining positions arranged in parallel along the axial direction; The feeding mechanism includes a tray removal position located at one side of the material combining platform, a feeding conveyor line for inputting materials with trays to the tray removal position, and a discharging conveyor line for discharging the trays on the tray removal position; A clamping mechanism is driven by the transverse driving device to coaxially transversely move above the material combining platform and the removal position, and the clamping mechanism is used to clamp the material on the removal position to a plurality of the material combining positions to form a combined material; The conveying mechanism coaxially moves laterally on the other side of the material combining platform, and the conveying mechanism includes a loading device for carrying a number of the material combining materials and a material unloading driving device for driving the loading device to unload the materials; the rotating driving device is used to drive the material combining platform to rotate laterally until the material unloading structure corresponds to the loading device.

[0007] Furthermore, the material combining table is extended forward and backward and the number of the material combining positions is set to two in parallel front and back, the conveying mechanism and the clamping mechanism are arranged to move horizontally forward and backward, the number of the feed conveyor lines is set to two and they extend from back to front and then extend towards each other to the de-supporting position, the discharging conveyor line extends forward and backward and is located between the two feed conveyor lines and the feed end corresponds to the de-supporting position, the clamping mechanism gap is erected above the discharging conveyor line to form a discharging gap, and the two feed conveyor lines are used to alternately input materials with trays to the de-supporting position.

[0008] Furthermore, the feed conveyor line includes two feed conveyor devices for forward and backward conveying, two groups of feed conveyor belt groups for left and right conveying and respectively located at the front ends of the two feed conveyor devices, two groups of feed docking conveyor groups for forward and backward conveying and respectively lifted and arranged in the two feed conveyor belt groups, and a de-supporting conveyor belt group for left and right conveying and located between the two feed conveyor belt groups; the discharging conveyor line includes a discharging docking conveyor group for forward and backward conveying and lifted and arranged in the de-supporting conveyor belt group, and a discharging conveyor device for forward and backward conveying and located between the two feed conveyor devices; the feed docking conveyor group is used to be lifted between the feed conveyor belt groups and dock with the feed conveyor devices; the discharging docking conveyor group is used to be lifted between the de-supporting conveyor belt groups and dock with the discharging conveyor devices; the two feed conveyor devices and one discharging conveyor device are arranged side by side left and right, and the de-supporting position is formed on the de-supporting conveyor belt group.

[0009] Furthermore, the top of the material combining platform includes a plurality of support rods arranged in parallel with a front-to-back interval, the material discharging structure includes a plurality of material picking gaps extending left and right formed between the support rods, the loading device includes a plurality of forks extending front and back and arranged side by side left and right, and the material unloading drive device includes a lifting drive assembly for driving the loading device to rise and fall.

[0010] Furthermore, the material combining mechanism also includes a sliding frame driven by a sliding drive device to slide back and forth between the de-supporting position and the loading device, the material combining platform is rotatably arranged on the sliding frame through a rotating seat, the rotating drive device includes the rotating seat and a swinging cylinder for driving the rotating seat to rotate horizontally, and the bottom of the rotating seat is rollingly supported on the top of the sliding frame by a plurality of supporting wheels; after the rotating drive device drives the material combining platform to rotate horizontally to a plurality of material picking gaps that are coaxially corresponding to a plurality of forks front and back, the sliding frame moves forward to a plurality of forks that are inserted into a plurality of material picking gaps, and the loading device rises and lifts the material for combining the materials through a plurality of forks.

[0011] Furthermore, the transverse driving device includes a support frame and a transverse motor arranged on the support frame, the clamping mechanism includes a transverse frame slidably arranged on the support frame and driven by the transverse motor to move transversely forward and backward, a lifting frame slidably connected to the transverse frame up and down, a plurality of lifting cylinders connected between the transverse frame and the lifting frame and used to drive the lifting frame to move up and down, and a clamping device arranged on the front side of the lifting frame, the clamping devices are provided with a plurality of and are distributed in steps up and down, each of the clamping devices includes a driving seat fixedly arranged on the front side of the lifting frame, two clamping members slidably connected to the driving seat left and right through a sliding member and corresponding to the left and right, and a clamping cylinder arranged on the driving seat and used to drive the two clamping members to move toward or oppositely.

[0012] Furthermore, the clamping member includes a clamping plate extending forward and backward and connected to the sliding member, and the opposite sides of the two corresponding clamping plates on the left and right are respectively protruded with a plurality of clamping parts, and the plurality of clamping parts are distributed at upper and lower intervals and form a plurality of outward expansion areas therebetween; when the two clamping members of the clamping device move toward each other to clamp the material, the side portions of the material are deformed and expand outward to the plurality of outward expansion areas after being clamped by the plurality of clamping parts.

[0013] Furthermore, the protrusion heights of the clamping parts gradually increase from top to bottom, and the cross-sections of the outward expansion areas are all trapezoidal in shape, narrow at the top and wide at the bottom.

[0014] Furthermore, the clamping device at the lowest level also includes two bottom supporting members which are respectively limited and rotatable at the lower ends of the two clamping plates and extend toward each other, and a pressure relief zone is formed between the two bottom supporting members and the two clamping parts at the lowest side, which is expanded after the two bottom supporting members are limited and swung down; when the two clamping members of several clamping devices move toward each other to clamp the material, the side portions of the material are deformed and expanded outward to the several expanded areas after being clamped by several clamping parts, and the bottom portion is deformed to support the two bottom supporting members and expand outward to release pressure to the two pressure relief zones.

[0015] A control method for an efficient material removal and loading system is provided, based on the efficient material removal and loading system as described above, and comprises the following steps: S1, control the flatbed truck to enter the parking area of ​​the corresponding transport mechanism; S2, controlling the feeding conveyor line to input a number of materials with trays into the removal position one by one; S3, control the clamping mechanism to reciprocate and horizontally move to clamp the materials on the un-supporting position and discharge them one by one to several material combining positions on the material combining table to form combined materials, and at the same time control the discharging conveyor line to output the pallet on the un-supporting position after the clamping mechanism clamps the materials, and control the feeding conveyor line to input the next material with a pallet to the un-supporting position when the clamping mechanism discharges the materials and resets; S4, after the material is formed on the material combining platform, the rotary drive device is controlled to drive the material combining platform to rotate horizontally to the loading device corresponding to the discharging structure; S5, after controlling the loading device to carry the combined materials through the discharging structure, controlling the steering drive device to control the loading device to rotate to the corresponding direction, and at the same time, controlling the transport mechanism to move horizontally to the loading position, controlling the unloading drive device to drive the loading device to unload the combined materials to the loading position, and finally, the transport mechanism and the loading device are reset to wait for the next round of transport; S6, loop S2~S5 until all materials are loaded.

[0016] The beneficial effects of the present invention are: 1. By adding a material combining mechanism, it can cooperate with the handling mechanism to load ton bags of materials in a single row, thereby improving the loading efficiency. On this basis, through the setting of the feeding conveyor line and the removal position, several materials with pallets are fed one by one between the clamping mechanism and the material combining platform, so that the clamping mechanism can coaxially move horizontally to clamp several materials one by one to several material combining positions to form combined materials, and the loading device of the handling mechanism is connected to the rotation of the material combining platform, so that the material combining efficiency can be maximized by the linear clamping method of the clamping mechanism to the material combining platform. The combined materials can be quickly formed and rotated to the corresponding loading device, thereby making the above combined materials The material loading method can be implemented quickly. At the same time, the above-mentioned material combining method and the material combining loading method can together shorten the travel of the clamping mechanism for clamping the ton bag material for suspended movement. The existing transportation method requires the clamping mechanism to clamp the ton bag material and move it back and forth to the flatbed truck and then move it left and right to the loading position. The long-stroke clamping is replaced by the clamping mechanism only needs to clamp the ton bag material and move it from the removal position to the material combining platform. The risk of sliding, shifting or falling of large-tonnage ton bags during the process of being clamped and suspended is avoided, which greatly improves the stability of clamping and transportation to complete the pallet removal task, thereby improving the stability of subsequent material combining and loading of ton bags.

[0017] 2. The palletized materials that are alternately transported from the vertical warehouse to the two feeding conveyor lines can be fed alternately to the un-supporting position in accordance with the reciprocating clamping frequency of the clamping mechanism, so that the un-supporting position starts feeding during the resetting of the clamping mechanism, which greatly reduces the waiting time after the resetting of the clamping mechanism, thereby shortening the waiting time of the subsequent combining mechanism and the transporting mechanism, and improving the working rhythm of the feeding mechanism and the clamping mechanism to improve the feeding efficiency of ton-bag materials. In addition, by arranging two feeding conveyor lines and one discharging conveyor line into an E shape, the lateral movement space of the clamping mechanism and the discharging conveyor line are stacked up and down, and a discharging gap is formed between them, so that on the premise of completing the feeding task of ton-bag materials and the pallet discharging task and improving the feeding efficiency of ton-bag materials, the structural compactness of the feeding mechanism and the clamping mechanism is improved, the overall footprint of the loading system is reduced, and the practicality and adaptability of the installation of the loading system are improved.

[0018] 3. The addition of a feed docking conveyor group enables the docking of materials with pallets between the feed conveyor device and the feed conveyor belt group, and the feed conveyor belt group enables the steering conveying of materials with pallets, replacing the docking method in the prior art that uses rotating conveyor rollers to support materials and then redirect them before inputting them into the next steering conveyor line, which can greatly improve the feeding speed of ton-bag materials. The addition of a discharging docking conveyor group enables the docking of pallets between the de-supporting conveyor belt group and the discharging conveyor device, which can greatly improve the discharging efficiency of pallets. The feed docking conveyor group and the discharging docking conveyor group are respectively lifted and arranged in the corresponding feed conveyor belt group and de-supporting conveyor belt group. On the premise of realizing the docking function, the structural compactness of the feed conveyor line and the discharging conveyor line is improved, and the space occupied by the two is reduced.

[0019] 4. By inserting several forks into the material-retrieving gap and lifting them, the materials on the mixing table can be quickly lifted, which greatly improves the discharging efficiency of the mixed materials and thus improves the loading efficiency of the materials. By adding a sliding frame, not only can the material combining platform slide to the gap corresponding to the de-supporting position, so as to further shorten the stroke of the clamping mechanism's suspended movement of the clamped material and further improve the stability of the clamping and transportation, but also the material combining platform is formed on the material combining platform and rotated horizontally 90° to several material picking gaps and the front and rear coaxially corresponding to several forks, and then it can be quickly moved forward by the sliding frame to several forks to insert into several material picking gaps, so that the lifting drive component drives the loading device to rise and the material combining material can be lifted by several forks, without the need for the conveying mechanism to move horizontally forward and backward to drive the loading device to dock with the material combining platform, which can shorten the lateral movement stroke of the conveying mechanism, reduce costs, and further improve the efficiency of the material combining material output to the loading device, and, through the rolling support of several support wheels, on the premise of improving the support strength of the material combining platform, the smoothness of the lateral rotation of the material combining platform can also be improved to avoid the situation where it is stuck due to a heavy load, and improve the stability of the loading device after rotation.

[0020] 5. Through the arrangement of a plurality of clamping devices, when the clamping mechanism clamps the material, a plurality of clamping members arranged at upper and lower intervals clamp the material on the outside, thereby increasing the clamping contact area and improving the clamping stability.

[0021] 6. By adding several clamping parts and outward expansion areas, it is realized that when two clamping parts of several clamping devices move toward each other to clamp materials, the side of the material is deformed and expanded to several outward expansion areas after being clamped by several clamping parts. When the material is a ton bag, its side can be partially expanded and deformed from top to bottom and embedded in several outward expansion areas after being clamped and squeezed by several clamping parts, so as to realize the upper and lower limit between the ton bag and the clamping parts, increase the contact area between the clamping parts and the side of the ton bag, reduce the risk of deformation and sliding of the ton bag due to the internal product flowing downward toward the middle side, and thus improve the clamping stability of the ton bag by the clamping device.

[0022] 7. By arranging a plurality of clamping parts into a step-like shape with gradually increasing protruding height from top to bottom, the cross-section of the expansion zone is a trapezoidal shape that is narrow at the top and wide at the bottom. When the material is a ton bag, after its side is clamped and squeezed by a plurality of clamping parts, the internal product has a tendency to release pressure downward and flow outward into the expansion zone. This can not only promote the local expansion and deformation of the side of the ton bag from top to bottom and embed it into a plurality of expansion zones, but also avoid the situation where the side of the ton bag is damaged by excessive pressure after being clamped. In addition, the depth of the clamping part embedded in the side of the ton bag can be gradually increased from top to bottom, and then the supporting force of the clamping part on the side of the ton bag can be gradually increased from top to bottom, further avoiding the risk of deformation and sliding of the ton bag.

[0023] 8. By adding two bottom supporting parts, it is realized that when the two clamping parts of the clamping devices move toward each other to clamp the material, the side of the material is deformed and expanded outward to the several expansion areas after being clamped by the several clamping parts, and the bottom is deformed and supports the two bottom supporting parts and expands outward to release pressure to the two pressure relief areas. When the material is a ton bag, after being clamped by the several clamping parts, not only the side is squeezed and deformed from top to bottom to be embedded in the several expansion areas to achieve the upper and lower limit between the ton bag and the clamping parts, but also the bottom is squeezed and expanded outward to the pressure relief area and supports the two bottom supporting parts to rotate downward to the restricted position, so as to expand the volume of the pressure relief area to relieve the pressure on the lower part of the ton bag, avoid the risk of rupture due to excessive pressure on the bottom of the ton bag, and at the same time, through the expansion and pressure relief of the pressure relief area, the tendency of the product inside the ton bag to flow outward and downward to the pressure expansion area is increased, so that the bottom of the ton bag is further The outward expansion squeezes in and is supported by the bottom support, which reduces the probability of the internal product of the ton bag flowing downward toward the middle side, and can avoid the risk of the ton bag deforming and sliding due to the internal product flowing downward toward the middle side, so that the overall deformation of the ton bag is embedded in several outward expansion areas and pressure relief areas, further improving the clamping stability of the ton bag by the clamping device, and making sure that the ton bag after being clamped by the clamping device will not be unable to stand stably on the material combining table due to excessive concentration of internal products toward the middle side, thereby improving the stability of the ton bag after being clamped on the material combining table, and thereby improving the stability of the subsequent ton bag loading during material combining. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a structural schematic diagram of an efficient material removal and loading system.

[0025] Figure 2 This is a schematic diagram of the partial structure of a high-efficiency material removal and loading system from a top view.

[0026] Figure 3 It is a structural schematic diagram of a feeding mechanism.

[0027] Figure 4 It is a structural diagram of the material combining mechanism.

[0028] Figure 5 It is a side structural schematic diagram of the material combining mechanism.

[0029] Figure 6 It is a structural diagram of the transport mechanism and the material combining platform.

[0030] Figure 7 It is a structural schematic diagram of the clamping mechanism.

[0031] Figure 8 for Figure 7 A local enlarged schematic diagram of point A in the middle.

[0032] Fig. 9 It is a schematic diagram of the partial structure of the clamping mechanism from the front view.

[0033] Reference numerals: Material combining mechanism 1, material combining platform 11, material combining position 111, support rod 112, material taking gap 113, rotary drive device 12, rotating seat 121, swing cylinder 122, support wheel 123, sliding frame 13, sliding drive device 14; Feeding mechanism 2, de-supporting position 21, feeding conveying line 22, feeding conveying device 221, feeding conveying belt group 222, feeding docking conveying group 223, de-supporting conveying belt group 224, discharging conveying line 23, discharging docking conveying group 231, discharging conveying device 232; Clamping mechanism 3, transverse frame 31, lifting frame 32, lifting cylinder 33, clamping device 34, driving seat 341, clamping member 342, clamping plate 3421, clamping part 3422, clamping groove 34221, outer expansion area 3423, sliding member 343, clamping cylinder 344, bottom supporting member 345, pressure relief area 346, limiting member 347, limiting part 3471; Transverse driving device 4, support frame 41, transverse motor 42; Transport mechanism 5, loading device 51, fork 511, shelf 512, unloading drive device 52, lifting drive assembly 521, unloading rack 522; Travel drive device 6, ground rail 61, gantry 62, machine base 63, steering drive device 64. DETAILED DESCRIPTION

[0034] Embodiment 1 Reference Figure 1-8 As shown, an efficient material removal and loading system includes: The material combining mechanism 1 comprises a material combining platform 11 which is driven by a rotary driving device 12 to rotate transversely, and the material combining platform 11 comprises a material discharging structure for discharging materials and a plurality of material combining positions 111 arranged in parallel along the axial direction; The feeding mechanism 2 includes a de-palletizing position 21 located at one side of the combining platform 11, a feeding conveyor line 22 for inputting palletized materials to the de-palletizing position 21, and a discharging conveyor line 23 for discharging the pallets on the de-palletizing position 21; specifically, the palletized materials are ton-bag materials with pallets, and the feeding end of the feeding conveyor line 22 is connected to the vertical warehouse outlet conveyor line, and multiple ton-bag materials with pallets are stored in the vertical warehouse; The clamping mechanism 3 is driven by the transverse driving device 4 to coaxially transversely move above the material combining platform 11 and the removal position 21. The clamping mechanism 3 is used to clamp the material on the removal position 21 to the plurality of material combining positions 111 to form a combined material; The transport mechanism 5 is driven by the travel drive device 6 to coaxially move horizontally on the other side of the material combining platform 11. The transport mechanism 5 includes a loading device 51 for carrying a number of the material combining materials and a unloading drive device 52 for driving the loading device 51 to unload materials; the rotating drive device 12 is used to drive the material combining platform 11 to rotate horizontally to the discharging structure corresponding to the loading device 51.

[0035] The above structure is provided with a material combining mechanism 1, so that it can cooperate with the conveying mechanism 5 to load ton bags of materials in a single row, thereby improving the loading efficiency. On this basis, through the setting of the feeding conveyor line 22 and the de-palletizing position 21, a plurality of palletized materials are fed one by one between the clamping mechanism 3 and the material combining platform 11, so that the clamping mechanism 3 can coaxially move laterally to clamp a plurality of materials one by one to a plurality of material combining positions 111 to form combined materials, and the material combining platform 11 is rotated to dock the loading device 51 of the conveying mechanism 5, so that the material combining method of the clamping mechanism 3 linearly clamping the materials to the material combining platform 11 can maximize the material combining efficiency, and the combined materials can be quickly formed and rotated to correspond to the loading device 5 1, thereby enabling the above-mentioned material combining and loading method to be implemented quickly. At the same time, the above-mentioned material combining method and material combining and loading method can together achieve shortening of the travel of the clamping mechanism 3 for clamping the ton bag material and moving it in the air. The long-stroke clamping in the existing transportation method, in which the clamping mechanism 3 needs to clamp the ton bag material and move it back and forth to the flatbed truck and then move it left and right to the loading position, is replaced by a short-stroke clamping in which the clamping mechanism 3 only needs to clamp the ton bag material and move it from the removal position 21 to the material combining platform 11. This can avoid the risk of large-tonnage ton bags sliding down or falling during the process of being clamped and moved in the air, greatly improves the stability of clamping and transportation to complete the pallet removal task, and thus improves the stability of subsequent material combining and loading of the ton bag material.

[0036] In order to improve the feeding efficiency of palletized materials, the combining platform 11 is extended forward and backward and the number of the combining positions 111 is set to two in parallel front and back, the conveying mechanism 5 and the clamping mechanism 3 are set to move horizontally front and back, the number of the feeding conveyor lines 22 is set to two and they extend from back to front and then extend towards each other to the de-supporting position 21, the discharging conveyor line 23 extends forward and backward and is located between the two feeding conveyor lines 22 and the feeding end corresponds to the de-supporting position 21, the clamping mechanism 3 is gap-mounted above the discharging conveyor line 23 to form a discharging gap, and the two feeding conveyor lines 22 are used to alternately input palletized materials to the de-supporting position 21. The palletized materials that are alternately transported from the vertical warehouse to the two feeding conveyor lines 22 can be alternately fed to the de-supporting position 21 in accordance with the reciprocating clamping frequency of the clamping mechanism 3, so that the de-supporting position 21 starts feeding during the resetting of the clamping mechanism 3, which greatly reduces the waiting time after the resetting of the clamping mechanism 3, thereby shortening the waiting time of the subsequent material combining mechanism 1 and the transporting mechanism 5, and improving the working rhythm of the feeding mechanism 2 and the clamping mechanism 3, so as to improve the feeding efficiency of ton-bag materials. In addition, by arranging the two feeding conveyor lines 22 and the one discharging conveyor line 23 into an E shape, the lateral movement space of the clamping mechanism 3 and the discharging conveyor line 23 are stacked up and down, and a discharging gap is formed between them, so that on the premise of completing the feeding task of ton-bag materials and the pallet discharging task and improving the feeding efficiency of ton-bag materials, the structural compactness of the feeding mechanism 2 and the clamping mechanism 3 is improved, the overall footprint of the loading system is reduced, and the practicality and adaptability of the installation of the loading system are improved.

[0037] In order to improve the compactness of the structure of the feeding conveyor line 22 and the discharging conveyor line 23, the feeding conveyor line 22 includes two feeding conveying devices 221 for front and rear conveying, two groups of feeding conveyor belt groups 222 for left and right conveying and respectively located at the front ends of the two feeding conveying devices 221, two groups of feeding docking conveying groups 223 for front and rear conveying and respectively lifted and arranged in the two feeding conveyor belt groups 222, and a de-supporting conveyor belt group 224 for left and right conveying and located between the two feeding conveyor belt groups 222. The discharging conveyor line 23 includes a group of discharging docking conveying groups 231 for front and rear conveying and lifted and arranged in the de-supporting conveyor belt group 224, and a group of discharging docking conveying groups 231 for front and rear conveying and lifted and arranged in the two feeding conveyor belt groups 222. The discharging conveying device 232 is between the feeding devices 221, the feeding docking conveying group 223 is used to rise between the feeding conveying belt groups 222 and dock with the feeding conveying device 221, the discharging docking conveying group 231 is used to rise between the de-supporting conveying belt groups 224 and dock with the discharging conveying device 232, the two feeding conveying devices 221 and the one discharging conveying device 232 are arranged side by side on the left and right, and the de-supporting position 21 is formed on the de-supporting conveying belt group 224. Specifically, the feeding conveying device 221 and the discharging conveying device 232 are both roller conveying devices, and the feeding docking conveying group 223 and the discharging docking conveying group 231 are both liftable roller conveying devices. The addition of the feed docking conveyor group 223 enables the docking of the palletized materials between the feed conveyor device 221 and the feed conveyor belt group 222, and the feed conveyor belt group 222 enables the steering conveying of the palletized materials, which replaces the docking method in the prior art that uses rotating conveyor rollers to support the materials and then redirect them before inputting them into the next steering conveyor line, which can greatly improve the feeding speed of ton-bag materials, and the addition of the discharging docking conveyor group 231 enables the docking of pallets between the de-supporting conveyor belt group 224 and the discharging conveyor device 232, which can greatly improve the discharging efficiency of the pallets, and the feed docking conveyor group 223 and the discharging docking conveyor group 231 are respectively lifted and arranged in the corresponding feed conveyor belt group 222 and the de-supporting conveyor belt group 224. On the premise of realizing the docking function, the structural compactness of the feed conveyor line 22 and the discharging conveyor line 23 is improved, and the space occupied by the two is reduced.

[0038] In order to improve the discharging efficiency of the materials, the top of the material discharging platform 11 includes a plurality of support rods 112 arranged in parallel with a front-to-back interval, the discharging structure includes a plurality of material taking gaps 113 extending left and right formed between the support rods 112, the loading device 51 includes a plurality of forks 511 extending front and back and arranged side by side left and right, and the unloading drive device 52 includes a lifting drive assembly 521 for driving the loading device 51 to rise and fall, and specifically, the lifting drive assembly 521 is a chain sprocket lifting device. Thus, by inserting a plurality of forks 511 into the material taking gaps 113 and lifting them, the materials on the material discharging platform 11 can be quickly lifted, which greatly improves the discharging efficiency of the materials, and further improves the loading efficiency of the materials.

[0039] In order to further improve the loading efficiency, the material combining mechanism 1 also includes a sliding frame 13 driven by a sliding drive device 14 to slide back and forth between the removal position 21 and the loading device 51. The material combining platform 11 is rotatably arranged on the sliding frame 13 through a rotating seat 121. The rotating drive device 12 includes the rotating seat 121 and a swinging cylinder 122 for driving the rotating seat 121 to rotate horizontally. The bottom of the rotating seat 121 is rollingly supported on the top of the sliding frame 13 by a plurality of support wheels 123. Specifically, the sliding drive device 14 is a telescopic cylinder. By adding the sliding frame 13, not only can the material combining platform 11 slide to the clearance corresponding to the support position 21, so as to further shorten the travel of the clamping mechanism 3 for the material to be clamped and moved in the air, and the stability of the clamping and handling is further improved, but also the material combining material is formed on the material combining platform 11 and is rotated 90° horizontally to a plurality of the material taking gaps 113 coaxially corresponding to a plurality of the forks 511, and then the material combining material can be quickly moved forward by the sliding frame 13 to a plurality of the forks 511 to be inserted into a plurality of the material taking gaps 113, so that the lifting drive component 521 drives the loading device 51 to rise, and the material can be passed. By using a plurality of the forks 511 to lift the mixing materials, there is no need for the transport mechanism 5 to move horizontally forward and backward to drive the loading device 51 to dock with the mixing platform 11, which can shorten the lateral movement stroke of the transport mechanism 5, reduce costs, and further improve the efficiency of outputting the mixing materials to the loading device 51. In addition, through the rolling support of a plurality of support wheels 123, while improving the supporting strength of the mixing platform 11, the smoothness of the lateral rotation of the mixing platform 11 can also be improved, thereby avoiding the situation where the mixing platform 11 is stuck due to a heavy load and improving the stability of the mixing platform 11 docking with the loading device 51 after rotation.

[0040] Specifically, the transverse driving device 4 includes a support frame 41 and a transverse motor 42 disposed on the support frame 41, and the clamping mechanism 3 includes a transverse frame 31 slidably disposed on the support frame 41 and driven by the transverse motor 42 to transversely move forward and backward, a lifting frame 32 slidably connected to the transverse frame 31, a plurality of lifting cylinders 33 connected between the transverse frame 31 and the lifting frame 32 and used to drive the lifting frame 32 to move up and down, and a clamping device 34 disposed on the front side of the lifting frame 32. Thus, the lifting frame 32 is driven to move up and down by the lifting cylinder 33, and the clamping device 34 after clamping the material is driven to move up and down, thereby improving the stability of the material removal.

[0041] In order to improve the clamping stability of the clamping mechanism 3, the clamping devices 34 are provided in a plurality and are distributed in a stepwise manner up and down. Each clamping device 34 includes a driving seat 341 fixedly provided on the front side of the lifting frame 32, two clamping members 342 corresponding to each other and connected to the driving seat 341 by sliding members 343, and a clamping oil cylinder 344 provided on the driving seat 341 and used to drive the two clamping members 342 to move toward or in the opposite direction. Thus, by providing a plurality of clamping devices 34, when the clamping mechanism 3 clamps the material, the clamping members 342 provided in a plurality of vertical intervals clamp the material outside, thereby increasing the clamping contact area and improving the clamping stability.

[0042] Specifically, the travel drive device 6 includes a gantry 62 that moves back and forth through two parallel ground rails 61, the transport mechanism 5 includes a base 63 suspended in the gantry 62, a steering drive device 64 provided on the gantry 62 for driving the base 63 to rotate, the lifting drive assembly 521 is provided in the base 63, the unloading drive device 52 also includes a pitching drive assembly connected to the output end of the lifting drive assembly 521, and a unloading rack 522 driven by a telescopic scissor frame for pushing the unloading of the combined materials on the forks 511, the loading device 51 also includes a shelf 512 connected to the output end of the pitching drive assembly and including a plurality of forks 511, the unloading rack 522 is provided on the shelf 512, and the pitching drive assembly is used to drive the shelf 512 to pitch to an inclined state. The transport mechanism 5 is a prior art and is not the main invention of this application, and its specific structure will not be elaborated in detail here.

[0043] A control method for an efficient material removal and loading system is further provided. Based on the above-mentioned efficient material removal and loading system, the control method comprises the following steps: S1, control the flatbed truck to enter the parking area corresponding to the transport mechanism 5; specifically, the parking area is located between the two ground rails 61; S2, control the feed conveyor line 22 to input a plurality of palletized materials one by one to the de-supporting position 21, specifically, control the two feed conveyor devices 221 to alternately feed a plurality of palletized materials, and receive the materials through the raised feed docking conveyor group 223, then lower and place them on the two feed conveyor belt groups 222 for steering and conveying, and the two feed conveyor belt groups 222 alternately feed the materials one by one to the de-supporting position 21; S3, control the clamping mechanism 3 to reciprocate and horizontally move to clamp the materials on the un-supporting position 21 and discharge them one by one to the plurality of material combining positions 111 on the material combining platform 11 to form combined materials, and at the same time control the discharging conveyor line 23 to output the pallet on the un-supporting position 21 after the clamping mechanism 3 clamps the materials, and control the feeding conveyor line 22 to input the next material with a pallet to the un-supporting position 21 when the clamping mechanism 3 discharges the materials and resets; S4, after the material is formed on the material combining platform 11, the rotary drive device 12 is controlled to drive the material combining platform 11 to rotate horizontally until the material discharging structure corresponds to the loading device 51. Specifically, the rotary drive device 12 is controlled to drive the material combining platform 11 to rotate horizontally 90° so that the plurality of material taking gaps 113 are coaxially corresponding to the plurality of forks 511 front and back, and then the sliding frame 13 is controlled to drive the material combining platform 11 to slide until the plurality of forks 511 are inserted into the plurality of material taking gaps 113; S5, after controlling the loading device 51 to carry the mixed materials through the discharging structure, specifically, controlling the lifting drive assembly 521 to drive the loading device 51 to rise and lift the mixed materials through a plurality of forks 511, controlling the steering drive device 64 to control the loading device 51 to rotate to the corresponding direction, and at the same time, controlling the walking drive device 6 to drive the conveying mechanism 5 to move horizontally to the loading position, controlling the unloading drive device 52 to drive the loading device 51 to unload the mixed materials to the loading position, specifically, the steering drive device 64 controls the rotation angle of the loading device 51 to be 180° and corresponds to the front of the flatbed truck, so as to transport the mixed materials to the flatbed truck and fill a row of loading positions, and finally, the conveying mechanism 5 and the loading device 51 are reset to wait for the next round of transportation; S6, loop S2 to S5 until all materials are loaded after filling several rows of loading positions row by row.

[0044] Embodiment 2 When the large-tonnage bag is filled with powder or crystal particles and other products with certain fluidity, the ordinary clamping mechanism 3 is likely to cause the internal products to flow downward toward the middle side and deform and slide, making it difficult to stably complete the clamping work of the clamping mechanism 3. Fig. 9 The difference between this embodiment and the first embodiment is that: In order to improve the clamping stability of the clamping device 34, the clamping member 342 includes a clamping plate 3421 extending forward and backward and connected to the sliding member 343, and the opposite sides of the two corresponding clamping plates 3421 on the left and right are respectively protruded with a plurality of clamping parts 3422, and the plurality of clamping parts 3422 are distributed at intervals up and down and a plurality of outward expansion areas 3423 are formed therebetween, and the plurality of clamping parts 3422 extend forward and backward, and the opposite sides of the corresponding clamping parts 3422 on the left and right are recessed to form a clamping groove 34221 adapted to the outer wall of the material; thereby, by adding a plurality of clamping parts 3422 and outward expansion areas 3423, it is achieved that when the two clamping members 342 of the clamping device 34 move toward each other to clamp the material, the side of the material is deformed and expanded outward to the plurality of outward expansion areas 3423 after being clamped by the plurality of clamping parts. When the material is a ton bag, after its side is clamped and squeezed by a number of clamping parts, it can be locally expanded and deformed from top to bottom and embedded in a number of expansion areas 3423, so as to achieve upper and lower limits between the ton bag and the clamping parts 342, increase the contact area between the clamping parts and the sides of the ton bag, reduce the risk of deformation and sliding of the ton bag due to the internal product flowing downward toward the middle side, and thus improve the clamping stability of the clamping device 34 on the ton bag.

[0045] In order to improve the supporting force of the clamping part, the protruding height of the plurality of clamping parts 3422 gradually increases from top to bottom, and the cross-sections of the plurality of expansion areas 3423 are all trapezoidal with narrow top and wide bottom. Thus, by setting the plurality of clamping parts 3422 in a step-like shape with gradually increasing protruding height from top to bottom, the cross-sections of the expansion areas 3423 are all trapezoidal with narrow top and wide bottom, so that when the material is a ton bag, after its side is clamped and squeezed by the plurality of clamping parts, the internal product has a tendency to release pressure downward toward the outside and flow into the expansion area 3423, which can not only promote the partial expansion and deformation of the side of the ton bag from top to bottom and embed it into the plurality of expansion areas 3423, but also avoid the situation that the side of the ton bag is damaged due to excessive pressure after being clamped, and can also gradually increase the depth of the clamping part embedded in the side of the ton bag from top to bottom, and then gradually increase the supporting force of the clamping part on the side of the ton bag from top to bottom, further avoiding the risk of deformation and sliding of the ton bag.

[0046] In order to further improve the clamping stability of the clamping device 34, the lowest clamping device 34 also includes two bottom supporting members 345 which are respectively limited and rotatable at the lower ends of the two clamping plates 3421 and extend toward each other. A pressure relief zone 346 is formed between the two bottom supporting members 345 and the two clamping parts 3422 at the lowest side, which is expanded after the two bottom supporting members 345 are limited and swung down. Specifically, the upper ends of the two bottom supporting members 345 are hinged to the corresponding lower ends of the clamping plates 3421, and the lower ends are tilted, folded and extended toward each other. A plurality of limiting members arranged side by side and spaced are fixed on the outer sides of the upper ends of the two bottom supporting members 345. 347, the upper ends of the plurality of limit members 347 extend upward to the outer side of the clamping plate 3421 to form a limit portion 3471, and the two bottom supporting members 345 are limited when they rotate downward until the plurality of limit portions 3471 abut against the outer side of the clamping plate 3421; thereby, by adding the two bottom supporting members 345, it is achieved that when the two clamping members 342 of the plurality of clamping devices 34 move toward each other to clamp the material, the material is clamped by the plurality of clamping parts and the side portions are deformed and expanded outward to the plurality of the expansion areas 3423, and the bottom portion is deformed to support the two bottom supporting members 345 and expand outward to release pressure to the two pressure relief areas 346. When the material is a ton bag, after it is clamped by several clamping parts, not only the side is squeezed and partially expanded from top to bottom to be deformed and embedded in several expansion areas 3423 to achieve the upper and lower limits between the ton bag and the clamping member 342, but also the bottom is squeezed and expanded to the pressure relief area 346 and the two bottom supporting members 345 are supported to rotate downward to the restricted position to expand the volume of the pressure relief area 346 to relieve the pressure on the lower part of the ton bag, avoiding the risk of rupture due to excessive pressure on the bottom of the ton bag. At the same time, through the expansion and pressure relief of the pressure relief area 346, the tendency of the product inside the ton bag to flow outward and downward toward the expansion area is increased, so that the bottom of the ton bag is further The ton bag is gradually expanded outward and squeezed in and supported by the bottom support 345, which reduces the probability of the internal product of the ton bag flowing downward toward the middle side, and can avoid the risk of the ton bag being deformed and sliding due to the internal product flowing downward toward the middle side, so that the ton bag is deformed as a whole and fits into a number of expanded areas 3423 and pressure relief areas 346, further improving the clamping stability of the ton bag by the clamping device 34, and making sure that the ton bag after being clamped by the clamping device 34 will not be unable to stand stably on the material combining platform 11 due to excessive concentration of internal products toward the middle side, thereby improving the stability of the ton bag after being clamped on the material combining platform 11, and thereby improving the stability of subsequent loading of the ton bag.

[0047] It should be pointed out that the implementation principle and technical effects of this embodiment are the same as those of Embodiment 1. For the sake of brief description, for matters not mentioned in this embodiment, reference may be made to the corresponding contents in Embodiment 1.

[0048] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An efficient material removal and loading system, characterized in that: include: A material combining mechanism (1) comprises a material combining platform (11) driven by a rotary drive device (12) to rotate transversely, the material combining platform (11) comprising a material discharging structure for discharging materials and a plurality of material combining positions (111) arranged in parallel along the axial direction; The feeding mechanism (2) comprises a tray removal position (21) located on one side of the material combining platform (11), a feeding conveyor line (22) for inputting materials with trays to the tray removal position (21), and a discharging conveyor line (23) for discharging the trays on the tray removal position (21); A clamping mechanism (3) is driven by the transverse driving device (4) to coaxially transversely move above the material combining platform (11) and the removal position (21), and the clamping mechanism (3) is used to clamp the material on the removal position (21) to the plurality of material combining positions (111) to form a combined material; The transport mechanism (5) is coaxially displaced laterally on the other side of the material combining platform (11), and the transport mechanism (5) comprises a loading device (51) for carrying a plurality of the material combining materials, and a material unloading driving device (52) for driving the loading device (51) to unload materials; the rotation driving device (12) is used to drive the material combining platform (11) to rotate laterally until the unloading structure corresponds to the loading device (51).

2. The efficient material removal and loading system as claimed in claim 1, characterized in that: The material combining platform (11) is extended forward and backward and the number of the material combining positions (111) is set to two in parallel front and back. The transport mechanism (5) and the clamping mechanism (3) are arranged to move horizontally forward and backward. The number of the feed conveyor lines (22) is set to two and they extend from the back to the front and then extend towards each other to the removal position (21). The discharge conveyor line (23) extends forward and backward and is located between the two feed conveyor lines (22) and the feed end corresponds to the removal position (21). The clamping mechanism (3) is gap-mounted above the discharge conveyor line (23) to form a discharge gap. The two feed conveyor lines (22) are used to alternately input the material with a tray to the removal position (21).

3. The efficient material removal and loading system as claimed in claim 2, characterized in that: The feed conveyor line (22) comprises two feed conveyor devices (221) for forward and backward conveying, two feed conveyor belt groups (222) for left and right conveying and respectively located at the front ends of the two feed conveyor devices (221), two feed docking conveyor groups (223) for forward and backward conveying and respectively lifted and arranged in the two feed conveyor belt groups (222), and a de-supporting conveyor belt group (224) for left and right conveying and located between the two feed conveyor belt groups (222); the discharge conveyor line (23) comprises a discharge docking conveyor group (223) for forward and backward conveying and lifted and arranged in the de-supporting conveyor belt group (224). 31), a discharging conveying device (232) for forward and backward conveying and located between the two feeding conveying devices (221), the feeding docking conveying group (223) is used to rise between the feeding conveying belt groups (222) and dock with the feeding conveying device (221), the discharging docking conveying group (231) is used to rise between the de-supporting conveying belt groups (224) and dock with the discharging conveying device (232), the two feeding conveying devices (221) and the discharging conveying device (232) are arranged side by side on the left and right, and the de-supporting position (21) is formed on the de-supporting conveying belt group (224).

4. The efficient material removal and loading system as claimed in claim 1, characterized in that: The top of the material combining platform (11) comprises a plurality of support rods (112) arranged in parallel with a front-to-back spacing, the material discharging structure comprises a plurality of material taking gaps (113) extending left and right formed between the plurality of support rods (112), the material loading device (51) comprises a plurality of forks (511) extending front and back and arranged left and right, and the material unloading drive device (52) comprises a lifting drive assembly (521) for driving the material loading device (51) to rise and fall.

5. The efficient material removal and loading system as claimed in claim 4, characterized in that: The material combining mechanism (1) further comprises a sliding frame (13) driven by a sliding driving device (14) to slide forward and backward between the removal position (21) and the material loading device (51); the material combining platform (11) is rotatably mounted on the sliding frame (13) via a rotating seat (121); the rotating driving device (12) comprises the rotating seat (121) and a swinging oil cylinder (122) for driving the rotating seat (121) to rotate horizontally; the bottom of the rotating seat (121) is provided with a plurality of holes formed on the bottom of the rotating seat (121); The sliding frame (13) is supported by a plurality of supporting wheels (123) for rolling on the top of the sliding frame (13); after the rotating driving device (12) drives the material combining platform (11) to rotate horizontally to a plurality of material taking gaps (113) coaxially corresponding to a plurality of forks (511) in front and back, the sliding frame (13) moves forward to a plurality of forks (511) to insert into the plurality of material taking gaps (113), and the loading device (51) rises and lifts the combined material through the plurality of forks (511).

6. The efficient material removal and loading system as claimed in claim 2, characterized in that: The transverse driving device (4) comprises a support frame (41) and a transverse motor (42) arranged on the support frame (41); the clamping mechanism (3) comprises a transverse frame (31) slidably arranged on the support frame (41) and driven by the transverse motor (42) to move transversely forward and backward; a lifting frame (32) slidably connected to the transverse frame (31) up and down; a plurality of lifting cylinders (33) connected between the transverse frame (31) and the lifting frame (32) and used to drive the lifting frame (32) to move up and down; and a plurality of lifting cylinders (33) arranged on the support frame (41) and driven by the transverse motor (42) to move transversely forward and backward. The clamping device (34) on the front side of the lifting frame (32) is provided with a plurality of clamping devices (34) and distributed in steps up and down, and each clamping device (34) comprises a driving seat (341) fixedly provided on the front side of the lifting frame (32), two clamping members (342) corresponding to each other and connected to the driving seat (341) by sliding members (343) left and right, and a clamping cylinder (344) provided on the driving seat (341) and used for driving the two clamping members (342) to move towards or in opposite directions.

7. The efficient material removal and loading system as claimed in claim 6, characterized in that: The clamping member (342) comprises a clamping plate (3421) extending forward and backward and connected to the sliding member (343), and the opposite sides of the two corresponding clamping plates (3421) on the left and right are respectively protruded with a plurality of clamping parts (3422), and the plurality of clamping parts (3422) are distributed at intervals up and down and form a plurality of outward expansion areas (3423) therebetween; when the two clamping members (342) of the clamping device (34) move towards each other to clamp the material, the side of the material is deformed and expanded outward to the plurality of outward expansion areas (3423) after being clamped by the plurality of clamping parts.

8. The efficient material removal and loading system as claimed in claim 7, characterized in that: The protruding heights of the clamping portions (3422) gradually increase from top to bottom, and the cross-sections of the outward expansion areas (3423) are all trapezoidal in shape, narrow at the top and wide at the bottom.

9. The efficient material removal and loading system as claimed in claim 7, characterized in that: The clamping device (34) at the lowest level further comprises two bottom supporting members (345) which are respectively limitedly rotatably arranged at the lower ends of the two clamping plates (3421) and extend towards each other, and a pressure relief zone (346) is formed between the two bottom supporting members (345) and the two clamping parts (3422) at the lowest side, which is expanded after the two bottom supporting members (345) are limitedly swung downward; when the two clamping members (342) of the clamping devices (34) move towards each other to clamp the material, the material is clamped by the clamping parts and the side portions thereof are deformed and expanded outward to the several outward expansion zones (3423), and the bottom portion thereof is deformed to support the two bottom supporting members (345) and expand outward to release pressure to the two pressure relief zones (346).

10. A control method for an efficient material removal and loading system, characterized in that: An efficient material removal and loading system according to any one of claims 1 to 9 comprises the following steps: S1, controlling the flatbed truck to enter the parking area of ​​the corresponding transport mechanism (5); S2, controlling the feeding conveyor line (22) to feed a plurality of palletized materials into the removal position (21) one by one; S3, controlling the clamping mechanism (3) to reciprocate and laterally clamp the material on the removal support position (21) and discharge the material one by one to a plurality of material combining positions (111) on the material combining platform (11) to form a combined material, and at the same time controlling the discharge conveyor line (23) to discharge the pallet on the removal support position (21) after the clamping mechanism (3) clamps the material, and controlling the feed conveyor line (22) to feed the next material with a pallet to the removal support position (21) when the clamping mechanism (3) discharges the material and resets; S4, after the combined materials are formed on the combined material platform (11), the rotary drive device (12) is controlled to drive the combined material platform (11) to rotate horizontally to the loading device (51) corresponding to the discharge structure; S5, after controlling the loading device (51) to carry the mixed materials through the discharging structure, controlling the steering drive device (64) to control the loading device (51) to rotate to the corresponding direction, and at the same time, controlling the transport mechanism (5) to move horizontally to the loading position, controlling the unloading drive device (52) to drive the loading device (51) to unload the mixed materials to the loading position, and finally, the transport mechanism (5) and the loading device (51) are reset to wait for the next round of transport; S6, loop S2~S5 until all materials are loaded.

Images