Automatic car loader

Abstract

The invention relates to a conveyor for loading or tilting, in particular to an automatic car loader, which is characterized in that a stacker head of the automatic car loader adopts a self-centering bag throwing structure, a box body is driven by a gear set to rotate horizontally, and a split V-shaped turning plate is arranged at the lower end of the box body and is controlled by an electric cylinder and a connecting rod; when the electric cylinder returns, the turning plate is turned upwards to form a V-shaped bearing face to gather the material bags, and when the electric cylinder goes out, the turning plate is turned downwards to throw the bags accurately. Through the machine head dynamic self-centering technology, the material bag positioning precision and the vehicle type adaptability are remarkably improved.

Description

Technical Field

[0001] The invention relates to a conveyor for loading or tilting, and in particular to an automatic loader suitable for bagged goods. Background Art

[0002] In the fields of building materials, metallurgy, chemicals and other industries, the automated loading technology of bagged materials has long faced technical bottlenecks. The current mainstream operation mode still relies on manual handling, which is labor-intensive and inefficient. Especially in the case of high-dust materials, the working environment poses a significant health hazard to operators.

[0003] The invention patent with publication number CN108483052A discloses a continuous automatic loading and stacking system for material packages, which realizes the stacking and loading of material packages through mechanical structure adjustment. Its core defect is the lack of automatic centering capability: after the system measures the initial position of the carriage through sensors, it can only adjust the position of the palletizer through fixed mechanical structures such as horizontal belt trolleys and swing hangers, but cannot detect its posture and position deviation in real time during the material package transportation process. The material package can only achieve vertical / horizontal switching through baffles and push plates in the package guide assembly, and lacks the ability to dynamically compensate for lateral and longitudinal offsets, resulting in a significant increase in the risk of inter-layer misalignment during stacking. At the same time, the material package follows a parabolic trajectory during the falling process, resulting in an excessively large horizontal velocity component, which is prone to lateral sliding or rolling, and ultimately leads to problems such as stack skew and collapse, affecting loading efficiency and safety. Summary of the invention

[0004] The present invention aims to provide an automatic loader, which realizes the precise vertical bagging of bagged materials during the palletizing process by means of a V-shaped flap arranged at the lower end of the palletizer head, thereby eliminating horizontal impact and significantly improving the stability of the pallet shape. To this end, the technical solution adopted by the present invention is: An automatic loading machine comprises two I-shaped rails and a traveling frame capable of autonomous horizontal displacement relative to the I-shaped rails, wherein a main conveying line and an inclined conveying line are fixedly arranged on the traveling frame, wherein the main conveying line and the inclined conveying line are connected end to end, wherein the tail end of the inclined conveying line is connected to a palletizing machine head, and the difference from the prior art is that the palletizing machine head can make the material bag self-centering and achieve zero horizontal speed release, comprises a second cantilever bracket, wherein the cantilever end of the second cantilever bracket extends downward to form a fixed plate, wherein an axially vertical large gear of the head is rotated below the fixed plate; a head rotary motor is fixedly arranged above the fixed plate, wherein the output shaft of the head rotary motor is fixedly connected to a head pinion after passing through the fixed plate, and the head pinion is connected to the machine head pinion The large gear on the head is meshed; a box body is fixedly connected below the large gear on the head, and one side of the box body is open as an inlet for material bags; two split-type flaps are hinged at the lower ends of the box body on both sides of the inlet; a first electric cylinder with a vertical stroke is fixed on the box body on the opposite side of the inlet, and the driving end of the first electric cylinder is respectively hinged to the upper ends of two first connecting rods, and the lower ends of the two first connecting rods are respectively hinged to the middle parts of the two flaps; when the first electric cylinder returns, the two flaps flip up to receive the material bags entering the box body; when the first electric cylinder exits, the two flaps flip down to throw out the material bags thereon; when the two flaps flip up to the extreme position, the receiving surface formed by the two flaps is "V" shaped, and the angle is less than 180°.

[0005] Furthermore, the traveling frame comprises a hanging basket-type active span and a bracket-type driven span, the active span is respectively provided with a plurality of traveling wheels and deflection correcting wheels inside and outside the two I-shaped rails, and the driven span is respectively provided with a plurality of traveling wheels and deflection correcting wheels inside or outside the I-shaped rails; the active span is respectively provided with a plurality of traveling driving wheels and deflection correcting wheels and a traveling driving motor on the inner side of the two I-shaped rails, the inner side of the traveling driving wheel is fixedly connected to a traveling gear, the output shaft of the traveling driving motor is fixedly connected to a traveling pinion, and the traveling pinion is meshed with the traveling gear; the traveling wheels and the traveling driving wheels are in rolling cooperation with the upper surface of the lower wing plate of the I-shaped rail, and the deflection correcting wheels are in rolling cooperation with the end surface of the lower wing plate of the I-shaped rail; the main conveyor line is placed and fixed on the active span and the driven span.

[0006] Furthermore, the main conveyor line is formed by splicing one or more chain-driven roller conveyors end to end, and each roller conveyor is driven by an independent main conveyor line motor; the front end of the main conveyor line is connected to the rear end of the slope conveyor line through a slide hopper; the inclination angle of the slide hopper needs to be linked with the pitch angle of the slope conveyor line.

[0007] Furthermore, the slope conveyor line can not only pitch up and down, but also swing left and right, and includes a slope conveyor belt bracket and a rectangular frame. The rear end of the slope conveyor belt bracket is hinged to the lower part of the rectangular frame through a rear hinge shaft, and two first cantilever brackets extending forward are fixedly connected to the top of the rectangular frame. A double-drum winch is fixed on the rectangular frame at the rear end of the first cantilever bracket, and a fixed pulley is fixed to the front end of the first cantilever bracket. The steel wire rope of the double-drum winch passes around the fixed pulley and is fixed to the front end of the first cantilever bracket; a turntable is fixed at the bottom of the rectangular frame, and the rectangular frame is connected to the walking frame through the turntable. A sway motor and two universal rail wheels are fixed in the middle of the first cantilever bracket, and the output shaft of the sway motor is fixedly connected to a sway gear with a vertical axis; near the The front end of the traveling frame is respectively fixed with an arc-shaped rack and an arc-shaped track which are concentric with the turntable, the sway gear is meshed with the arc-shaped rack, and the universal track wheel runs on the arc-shaped track; two front lower hinge holes and two front upper hinge holes are provided on the left and right sides of the second cantilever bracket; a front hinge shaft is fixedly provided at the front end of the slope conveyor belt bracket, and the front hinge shaft is hinged with the two front lower hinge holes; two rear upper hinge holes are provided on the left and right sides of the middle part of the rectangular frame, and two long connecting rods are respectively hinged between the two front upper hinge holes and the two rear upper hinge holes, and the axial center distance from the front lower hinge hole to the front upper hinge hole is equal to the axial center distance from the front hinge shaft to the rear hinge shaft, so as to form a parallelogram four-bar linkage mechanism, so that the stacking machine head can always keep a horizontal state to avoid pitching.

[0008] Furthermore, a U-shaped pull frame is fixedly connected to the front end near the slope conveyor belt support, and movable pulleys are respectively installed at both ends of the U-shaped pull frame. The two steel wire ropes of the double-drum winch are respectively passed around the fixed pulley and the movable pulley and are fixedly connected to the front end of the first cantilever support; the width of the U-shaped pull frame is greater than the width between the two long connecting rods. In the event that the steel wire rope of the double-drum winch breaks, the U-shaped pull frame will block the two long connecting rods from descending, thereby preventing the head of the machine from falling, thereby enhancing the safety and reliability of the equipment.

[0009] Furthermore, two rotating felt gears are rotated on the first cantilever bracket on both sides of the yaw gear, and the rotating felt gears are also meshed with the circular arc rack. A lubricating oil supply device is provided on the first cantilever bracket for providing lubricating oil to the meshing point between the rotating felt gears and the circular arc rack; the cross-section of the circular arc track is circular, and the circumference of the universal track wheel is V-shaped.

[0010] Furthermore, a rear slope conveyor belt is installed on the rear side of the slope conveyor belt bracket, and a front slope conveyor belt is installed on the front side, the two are connected and driven by a rear slope conveying motor and a front slope conveying motor respectively; the rear slope conveyor belt and the front slope conveyor belt are supported by spindle-shaped rollers; and a herringbone texture is arranged on the surface of the rear slope conveyor belt and the front slope conveyor belt to increase friction.

[0011] Furthermore, guide plates are respectively configured on the inner sides of the slope conveyor belt bracket, and the rear end of the guide plate is fixedly connected to the inner side of the rear end of the slope conveyor belt bracket; a door frame is fixedly arranged near the front end of the slope conveyor belt bracket, and a second electric cylinder is fixedly arranged on the door frame, and the driving end of the second electric cylinder is connected to the middle part of the long strip driving block, and the inner ends of the second connecting rods are respectively hinged at both ends of the driving block, and the outer ends of the second connecting rods are connected to the front end of the guide plates; guide sleeves are respectively fixedly arranged on the door frames on both sides of the second electric cylinder, and the guide sleeves are slidably matched with the guide rods, and the lower ends of the guide rods are fixedly connected to the driving blocks.

[0012] Furthermore, two vertical guide rails are fixedly arranged on the box body on the opposite side of the inlet, and sliders are slidably matched on the two guide rails, and the sliders are fixedly connected to a T-shaped connecting block, and the left and right ends of the T-shaped connecting block are respectively hinged to the upper ends of the two first connecting rods, and the upper end of the T-shaped connecting block is connected to the driving end of the first electric cylinder; the guide rails are used to withstand the radial force when the first electric cylinder is in action; the driving end of the first electric cylinder is connected to a floating joint, and the floating joint adopts a fisheye bearing structure to compensate for the assembly error between the first electric cylinder and the first connecting rod; the upper surface of the flap is smooth or covered with a low-friction material; a travel switch is installed at the lower end of the box body on the opposite side of the inlet, and the travel switch is used to limit the upper limit position of the two flaps and trigger the reversing signal of the first electric cylinder.

[0013] Furthermore, adjustable wall panels are symmetrically arranged on both sides of the inlet of the box body, and the adjustable wall panels are adjusted in spacing by a screw mechanism to accommodate bags of different widths; a photoelectric sensor is installed on the inner wall of the box body, and the photoelectric sensor is used to detect whether the bag is in place and send a bag throwing trigger signal to the control system.

[0014] The present invention systematically solves the problems of dynamic offset compensation and stacking stability in bagged material loading and stacking through the two core technologies of "automatic centering" and "zero-level release". The technical effect directly corresponds to the defects of the background technology, and it is both creative and practical, and has significant industry promotion value. The details are as follows: 1. Capable of precise centering and dynamic compensation The angle (<180°) formed by the upward movement of the V-shaped flap forces the bag to slide to the center position, achieving passive geometric centering. The first electric cylinder dynamically controls the opening and closing angle of the flap through the connecting rod, actively corrects the bag's posture, and compensates for the lateral / longitudinal deviation during the conveying process. It can significantly reduce the risk of misalignment between stacking layers and improve the uniformity of the stacking shape. It avoids manual intervention and reduces the rework rate caused by deviation.

[0015] 2. Can eliminate horizontal impact and ensure vertical bag drop When the flap is turned down, the bag falls vertically only under the action of gravity, without a horizontal initial velocity component. The open side of the box and the closed flap form a guide space to limit the falling trajectory of the bag. The sliding or rolling phenomenon of the bag when it falls to the ground is completely eliminated. The stability of the stack is improved, collapse is prevented, and loading safety is guaranteed.

[0016] 3. Simplified structure and enhanced reliability The split flap design only requires a single electric cylinder to drive the double connecting rod to control the flap, with a compact structure and low failure rate. The large gear and small gear of the machine head mesh to ensure the rotation accuracy and durability of the box. Reduce maintenance costs and extend the service life of the equipment. Suitable for harsh industrial environments such as high dust and high load. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the present invention.

[0018] Figure 2 yes Figure 1 A partial enlarged view of point F in the middle.

[0019] Figure 3 yes Figure 1 A partial enlarged view of point G in the middle.

[0020] Figure 4 yes Figure 1 A partial enlarged view of point H in the middle.

[0021] Figure 5 It is a structural schematic diagram of the main conveying line, the slope conveying line and the palletizing machine head of the present invention.

[0022] Figure 6 yes Figure 5 A partial enlarged view of point D in the middle.

[0023] Figure 7 yes Figure 5 A partial enlarged view of point E in the middle.

[0024] Figure 8 It is a structural schematic diagram of the slope conveyor line of the present invention.

[0025] Fig. 9 yes Figure 8 A partial enlarged view of point A in the middle.

[0026] Fig.10 It is a structural schematic diagram of the slope conveyor line and the traveling frame of the present invention.

[0027] Fig.11 yes Fig.10 A partial enlarged view of point B in the middle.

[0028] Fig.12 yes Fig.10 A partial enlarged view of point C in the middle.

[0029] Fig.13 It is a structural schematic diagram of the palletizer head of the present invention.

[0030] Fig.14 It is a structural schematic diagram of the palletizer head of the present invention from another perspective.

[0031] Numbers in the figure: I-shaped rail 100, walking frame 200, arc rack 201, arc rail 202, active span 203, driven span 204, walking wheel 205, deviation correction wheel 206, walking drive motor 207, walking drive wheel 208, walking large gear 209, main conveyor line 300, main conveyor line motor 301, slope conveyor line 400, slope conveyor belt bracket 401, rectangular frame 402, turntable 403, double-drum winch 404, U-shaped puller 405, first cantilever bracket 406, fixed pulley 407, movable pulley 408, sway motor 409, sway gear 410, universal track wheel 411, rotating felt gear 412, rear slope conveyor belt 413, front slope conveyor belt 414 , rear slope conveying motor-415, front slope conveying motor-416, guide plate-417, door frame-418, second electric cylinder-419, second connecting rod-420, driving block-421, guide rod-422, front hinge shaft-424, rear hinge shaft-425, rear upper hinge hole-426, long connecting rod-427, palletizer head-500, second cantilever bracket-501, fixing plate-502 , machine head large gear-503, machine head rotary motor-504, machine head small gear-505, box-506, flap-507, first electric cylinder-508, first connecting rod-509, guide rail-510, T-type connecting block-511, travel switch-512, floating joint-513, front lower hinge hole-514, front upper hinge hole-515, slide hopper-600, material bag-700. DETAILED DESCRIPTION

[0032] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the purpose of facilitating the description of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limitations on the present invention.

[0033] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] like Figure 1-14An automatic loading machine shown in the figure comprises two I-shaped rails 100, a traveling frame 200 capable of autonomous horizontal displacement relative to the I-shaped rails 100, a main conveying line 300 and a hinged slope conveying line 400 are fixed on the traveling frame 200, the main conveying line 300 and the slope conveying line 400 are connected end to end, the tail end of the slope conveying line 400 is connected to a palletizer head 500, the palletizer head 500 can make the material bag 700 self-centering and achieve zero horizontal speed release, comprises a second cantilever bracket 501, the cantilever end of the second cantilever bracket 501 extends downward to form a fixed plate 502, an axially vertical head gear 503 is rotated below the fixed plate 502; a head rotary motor 504 is fixed above the fixed plate 502, the output shaft clearance of the head rotary motor 504 passes through the fixed plate 502 and is fixedly connected to a head pinion 505, the head pinion 505 is connected to the head gear The gear 503 is meshed; a box body 506 is fixedly connected below the large gear 503 of the machine head, and one side of the box body 506 is open as an inlet for the material bag 700; two split flaps 507 are hingedly connected at the lower ends of the box body 506 on both sides of the inlet; a first electric cylinder 508 with a vertical stroke is fixedly arranged on the box body 506 on the opposite side of the inlet, and the driving end of the first electric cylinder 508 is respectively hingedly connected to the upper ends of two first connecting rods 509, and the two first connecting rods The lower ends of 509 are hinged to the middle parts of the two flaps 507 respectively; when the first electric cylinder 508 returns, the two flaps 507 flip up to receive the material bags 700 entering the box body 506; when the first electric cylinder 508 moves out, the two flaps 507 flip down to throw out the material bags 700 thereon; when the two flaps 507 flip up to the extreme position, the receiving surface formed by the two flaps 507 is "V" shaped, and the angle is less than 180°.

[0036] The working process of this embodiment is as follows: 1. Bag conveying stage The main conveyor line is started: the material bags 700 are horizontally conveyed to the slope conveyor line 400 through the main conveyor line 300.

[0037] Slope transition: The slope conveyor line 400 is connected end to end with the main conveyor line 300, and the material bag 700 slides down along the slope and enters the box 506 of the palletizer head 500.

[0038] 2. Bag centering stage The flap is closed and received: the first electric cylinder 508 is in the return state, driving the two first connecting rods 509 to lift up, so that the split flap 507 is flipped up to the extreme position, forming a "V"-shaped receiving surface (angle <180°).

[0039] Geometric forced centering: the material bag 700 enters from the open side of the box body 506, slides along the inclined surface of the "V"-shaped flap 507 to the center position, and completes passive centering.

[0040] Dynamic posture correction: If the bag is offset, the first electric cylinder 508 will actively correct the bag's posture by fine-tuning the angle of the flap 507 (linkage linkage) to ensure that it is centered.

[0041] 3. Zero horizontal speed release stage The flaps are turned down to throw the bag: the first electric cylinder 508 moves out of the stroke, pushing the first connecting rod 509 downward, driving the two flaps 507 to turn down synchronously to a horizontal state.

[0042] Vertical free fall: After the flap 507 is fully deployed, the material bag 700 loses support and falls vertically into the vehicle compartment only under the action of gravity, and the horizontal velocity component is zero.

[0043] Trajectory constraint: The guide structure formed by the open side of the box 506 and the closed flap 507 ensures that the falling trajectory of the bag 700 is perpendicular to the bottom surface of the carriage.

[0044] 4. Dynamic position adjustment stage Head position adjustment: Gear transmission: The head rotary motor 504 drives the head small gear 505 to rotate, driving the head large gear 503 and the box body 506 to rotate around the vertical axis to adjust the stacking direction.

[0045] Adapting to the position of the carriage: By rotating the box body 506, it is ensured that the material bag 700 falls accurately into the target area of ​​the carriage.

[0046] Horizontal displacement of walking frame: The traveling frame 200 moves autonomously along the I-shaped track 100, driving the main conveying line 300, the slope conveying line 400 and the palletizing head 500 to move horizontally as a whole, covering different palletizing positions in the length direction of the carriage.

[0047] 5. Cycle operation stage The flap is reset: the first electric cylinder 508 returns again, and the flap 507 turns up to restore the "V"-shaped receiving state, ready to receive the next bag.

[0048] Continuous palletizing: The traveling frame 200 moves horizontally and the head rotary motor 504 rotates in coordination to stack the bags layer by layer according to a preset stacking mode (such as a matrix or staggered mode).

[0049] Repeat the “transport-center-release” cycle until the entire carriage is loaded.

[0050] Key actions and corresponding technical effects Action Technical Effects V-shaped flap centering Eliminate lateral deviation of material bags and improve inter-layer alignment accuracy Flap zero speed release Prevent bags from sliding and ensure vertical stability of the stack Head rotation + traveling frame movement Dynamically adapt to the size of the carriage and the palletizing position to achieve fully automatic coverage Electric cylinder connecting rod quick response Ensure high-speed continuous operation and improve efficiency The outstanding substantive features and remarkable technical progress of this embodiment are embodied in: 1. Fully automated: no manual intervention is required from conveying, centering to releasing, and it is adaptable to harsh environments with high dust.

[0051] 2. High-precision palletizing: “V” shape centering + zero level release + dynamic position adjustment, the palletizing misalignment rate is ≤1%.

[0052] 3. Efficient operation: The electric cylinder works in conjunction with the conveyor line, and the palletizing speed can reach 1,200 bags per hour.

[0053] 4. Strong adaptability: By adjusting the head rotation angle and the displacement of the traveling frame, it is compatible with carriages of different specifications.

[0054] In another preferred embodiment, the walking frame 200 includes a hanging basket type active span 203 and a bracket type driven span 204, wherein the active span 203 is respectively provided with a plurality of walking wheels 205 and a deviation correction wheel 206 inside and outside the two I-shaped rails 100, and the driven span 204 is respectively provided with a plurality of walking wheels 205 and a deviation correction wheel 206 inside or outside the two I-shaped rails 100; the active span 203 is respectively provided with a plurality of walking driving wheels 208 and a deviation correction wheel 206 on the inner side of the two I-shaped rails 100, and a fixed The travel drive motor 207, the inner side of the travel drive wheel 208 is fixedly connected to the travel gear 209, the output shaft of the travel drive motor 207 is fixedly connected to the travel pinion, and the travel pinion is meshed with the travel gear 209; the travel wheel 205 and the travel drive wheel 208 are in rolling cooperation with the upper surface of the lower wing plate of the I-shaped track 100, and the deviation correction wheel 206 is in rolling cooperation with the end surface of the lower wing plate of the I-shaped track 100; the main conveyor line 300 is placed and fixed on the active span 203 and the driven span 204. The double-span structure improves the rigidity of the whole machine and adapts to heavy loads; multiple wheel groups distribute the load evenly and extend the track life; active deviation correction reduces lateral force and avoids the risk of derailment.

[0055] In another preferred embodiment, the main conveyor line 300 is composed of more than one chain-driven roller conveyor connected end to end, and each roller conveyor is driven by an independent main conveyor line motor 301; the front end of the main conveyor line 300 is connected to the rear end of the slope conveyor line 400 through a slide hopper 600; the inclination angle of the slide hopper 600 needs to be linked with the pitch angle of the slope conveyor line 400. The modular design facilitates maintenance and replacement, reducing downtime; the slide hopper angle is adaptive to reduce bag jamming and improve conveying efficiency.

[0056] In another preferred embodiment, the slope conveyor line 400 can not only pitch up and down, but also swing left and right, and includes a slope conveyor belt bracket 401 and a rectangular frame 402. The rear end of the slope conveyor belt bracket 401 is hinged to the lower part of the rectangular frame 402 through a rear hinge shaft 425. Two first cantilever brackets 406 extending forward are fixedly connected to the upper part of the rectangular frame 402. A double-drum winch 404 is fixedly arranged on the rectangular frame 402 at the rear end of the first cantilever bracket 406. 6, a fixed pulley 407 is fixed at the front end, and the steel wire rope of the double-drum winch 404 passes over the fixed pulley 407 and is fixedly connected to the front end of the first cantilever bracket 406; a turntable 403 is fixedly arranged below the rectangular frame 402, and the rectangular frame 402 is connected to the traveling frame 200 through the turntable 403; a yaw motor 409 is fixedly arranged in the middle of the first cantilever bracket 406, and two universal track wheels 411 are rotated, and the output shaft of the yaw motor 409 is fixedly connected to a yaw gear 410 with a vertical axis; A circular arc rack 201 and a circular arc track 202 concentric with the turntable 403 are fixed near the front end of the walking frame 200, the yaw gear 410 is meshed with the circular arc rack 201, and the universal track wheel 411 runs on the circular arc track 202; two front lower hinge holes 514 and two front upper hinge holes 515 are provided on the left and right sides of the second cantilever bracket 501; a front hinge shaft 424 is fixed at the front end of the slope conveyor belt bracket 401, and the front hinge shaft 424 is connected to the two The front lower hinge hole 514 is hinged; two rear upper hinge holes 426 are opened on the left and right sides of the middle of the rectangular frame 402, and two long connecting rods 427 are respectively hinged between the two front upper hinge holes 515 and the two rear upper hinge holes 426. The axial center distance from the front lower hinge hole 514 to the front upper hinge hole 515 is equal to the axial center distance from the front hinge shaft 424 to the rear hinge shaft 425, so as to form a parallelogram four-bar linkage mechanism, so that the stacking machine head 500 always maintains a horizontal state and avoids pitching. Avoid the rolling of the bag caused by the pitching of the machine head, ensure the stability of the stacking posture; eliminate the stacking deviation caused by the tilt of the conveyor line, and improve the accuracy.

[0057] In another preferred embodiment, a U-shaped bracket 405 is fixedly connected to the front end of the slope conveyor belt support 401, and movable pulleys 408 are respectively installed at both ends of the U-shaped bracket 405. The two steel wire ropes of the double-drum winch 404 are respectively passed around the fixed pulley 407 and the movable pulley 408 and then fixedly connected to the front end of the first cantilever bracket 406; the width of the U-shaped bracket 405 is greater than the width between the two long connecting rods 427. When the steel wire rope of the double-drum winch 404 breaks, the U-shaped bracket 405 will block the two long connecting rods 427 from descending, thereby preventing the nose from falling and enhancing the safety and reliability of the equipment. Improve the safety of high-altitude operations and reduce the risk of accidents; reduce maintenance costs, and do not need to frequently replace high-load steel wire ropes.

[0058] In another preferred embodiment, two follow-up felt gears 412 are rotated on the first cantilever bracket 406 on both sides of the yaw gear 410, and the follow-up felt gears 412 are also meshed with the arc-shaped rack 201. The first cantilever bracket 406 is provided with a lubricating oil supply device, which is used to provide lubricating oil to the meshing position of the follow-up felt gear 412 and the arc-shaped rack 201 to achieve lubrication of the follow-up felt gear 412 and ensure smooth transmission between it and the arc-shaped rack 201; the cross section of the arc-shaped track 202 is circular, and the wheel circumference of the universal track wheel 411 is V-shaped. Extend the life of the gear rack, reduce the maintenance frequency; and improve the response speed and repeated positioning accuracy of the yaw motion.

[0059] In another preferred embodiment, a rear slope conveyor belt 413 is installed on the rear side of the slope conveyor belt support 401, and a front slope conveyor belt 414 is installed on the front side, and the two are connected and driven by a rear slope conveying motor 415 and a front slope conveying motor 416 respectively; the rear slope conveyor belt 413 and the front slope conveyor belt 414 are supported by spindle-shaped rollers; the surfaces of the rear slope conveyor belt 413 and the front slope conveyor belt 414 are provided with herringbone textures to increase friction. The climbing ability and load adaptability of the slope conveyor line are improved; the conveyor belt slippage is reduced, and energy consumption and wear are reduced.

[0060] In another preferred embodiment, guide plates 417 are respectively arranged on the inner side of the inclined conveyor belt support 401, and the rear end of the guide plates 417 is fixedly connected to the inner side of the rear end of the inclined conveyor belt support 401; a door frame 418 is fixedly arranged near the front end of the inclined conveyor belt support 401, and a second electric cylinder 419 is fixedly arranged on the door frame 418, and the driving end of the second electric cylinder 419 is connected to the middle part of the long strip driving block 421, and the inner ends of the second connecting rod 420 are respectively hinged at both ends of the driving block 421, and the outer end of the second connecting rod 420 is connected to the front end of the guide plate 417; guide sleeves are respectively fixedly arranged on the door frame 418 on both sides of the second electric cylinder 419, and the guide sleeves are slidably matched with the guide rod 422, and the lower end of the guide rod 422 is fixedly connected to the driving block 421. Adapt to bags of different widths, reduce material jamming and deviation; dynamic adjustment improves conveying efficiency and reduces the need for manual intervention.

[0061] In another preferred embodiment, two vertical guide rails 510 are fixedly arranged on the box body 506 on the opposite side of the inlet, and the two guide rails 510 are slidably matched with sliders, and the sliders are fixedly connected to a T-shaped connecting block 511. The left and right ends of the T-shaped connecting block 511 are respectively hinged to the upper ends of the two first connecting rods 509, and the upper end of the T-shaped connecting block 511 is connected to the driving end of the first electric cylinder 508; the guide rails 510 are used to withstand the radial force when the first electric cylinder 508 is in motion; The driving end of the first electric cylinder 508 is connected to a floating joint 513, and the floating joint 513 adopts a fisheye bearing structure to compensate for the assembly error between the first electric cylinder 508 and the first connecting rod 509; the upper surface of the flap 507 is smooth or covered with a low-friction material; a travel switch 512 is installed at the lower end of the box 506 on the opposite side of the inlet, and the travel switch 512 is used to limit the upper limit position of the two flaps 507 and trigger the reversing signal of the first electric cylinder 508. Extend the service life of the electric cylinder, reduce the failure rate; and improve the reliability and repeatability of the flap action.

[0062] In another preferred embodiment, adjustable wall panels are symmetrically arranged on both sides of the inlet of the box 506, and the adjustable wall panels are adjusted in spacing through a screw mechanism to adapt to bags 700 of different widths; a photoelectric sensor is installed on the inner wall of the box 506, and the photoelectric sensor is used to detect whether the bag 700 is in place and send a bag throwing trigger signal to the control system. The versatility of the equipment is enhanced, the changeover time is reduced, the manual judgment error is avoided, and the degree of automation is improved.

[0063] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

[0064] The matters not described in detail in the present invention are the prior art or common knowledge in the field.

Claims

1. An automatic loading machine, comprising two I-shaped rails (100), a traveling frame (200) capable of autonomous horizontal displacement relative to the I-shaped rails (100), a main conveying line (300) fixedly arranged on the traveling frame (200), and a slope conveying line (400) hingedly arranged, the main conveying line (300) and the slope conveying line (400) being connected end to end, the tail end of the slope conveying line (400) being connected to a palletizer head (500), characterized in that: The stacking head (500) is capable of self-centering the material bag (700) and achieving zero horizontal speed release, and comprises a second cantilever bracket (501), the cantilever end of the second cantilever bracket (501) extending downward to form a fixed plate (502), and an axially vertical head gear (503) is rotated below the fixed plate (502); a head rotary motor (504) is fixed above the fixed plate (502), and the output shaft of the head rotary motor (504) passes through the fixed plate (502) and is fixedly connected to a head pinion (505), and the head pinion (505) is meshed with the head gear (503); a box body (506) is fixedly connected below the head gear (503), and one side of the box body (506) is open as an inlet for the material bag (700); the box bodies on both sides of the inlet The lower end of the box body (506) is hinged to two split flaps (507); a first electric cylinder (508) with a vertical stroke is fixedly arranged on the box body (506) on the opposite side of the inlet, and the driving end of the first electric cylinder (508) is respectively hinged to the upper ends of two first connecting rods (509), and the lower ends of the two first connecting rods (509) are respectively hinged to the middle parts of the two flaps (507); when the first electric cylinder (508) returns, the two flaps (507) flip up to receive the material bags (700) entering the box body (506); when the first electric cylinder (508) exits, the two flaps (507) flip down to eject the material bags (700) thereon; when the two flaps (507) flip up to the extreme position, the receiving surface formed by the two flaps (507) is "V"-shaped, and the angle is less than 180°.

2. The automatic loading machine according to claim 1, characterized in that: The walking frame (200) comprises a hanging basket type active span (203) and a bracket type driven span (204); the active span (203) is provided with a plurality of walking wheels (205) and deviation correction wheels (206) respectively inside and outside the two I-shaped rails (100); the driven span (204) is provided with a plurality of walking wheels (205) and deviation correction wheels (206) respectively inside or outside the two I-shaped rails (100); the active span (203) is provided with a plurality of walking drive wheels (208) and deviation correction wheels (206) respectively inside the two I-shaped rails (100); and a walking drive wheel (208) and a fixed walking drive wheel (206) are provided. The travel drive wheel (208) is fixedly connected to a large travel gear (209) on the inner side, the output shaft of the travel drive motor (207) is fixedly connected to a small travel gear, and the small travel gear meshes with the large travel gear (209); the travel wheel (205) and the travel drive wheel (208) are in rolling engagement with the upper surface of the lower wing plate of the I-shaped rail (100), and the deviation correction wheel (206) is in rolling engagement with the end surface of the lower wing plate of the I-shaped rail (100); the main conveyor line (300) is placed and fixed on the active span (203) and the driven span (204).

3. The automatic loading machine according to claim 1, characterized in that: The main conveyor line (300) is formed by splicing one or more chain-driven roller conveyors end to end, and each roller conveyor is driven by an independent main conveyor line motor (301); the front end of the main conveyor line (300) is connected to the rear end of the slope conveyor line (400) via a slide hopper (600); the inclination angle of the slide hopper (600) needs to be linked to the pitch angle of the slope conveyor line (400).

4. The automatic loading machine according to claim 1, characterized in that: The slope conveyor line (400) can not only pitch up and down but also swing left and right, and comprises a slope conveyor belt support (401) and a rectangular frame (402). The rear end of the slope conveyor belt support (401) is hinged to the lower part of the rectangular frame (402) via a rear hinge shaft (425). Two first cantilever supports (406) extending forward are fixedly connected to the upper part of the rectangular frame (402). A double-drum winch (404) is fixedly arranged on the rectangular frame (402) at the rear end of the first cantilever support (406). A set pulley is fixedly arranged at the front end of the first cantilever support (406). (407), the steel wire rope of the double-drum winch (404) passes over the fixed pulley (407) and is fixedly connected to the front end of the first cantilever bracket (406); a turntable (403) is fixedly arranged below the rectangular frame (402), and the rectangular frame (402) is connected to the traveling frame (200) through the turntable (403); a yaw motor (409) is fixedly arranged in the middle of the first cantilever bracket (406), and two universal track wheels (411) are rotatably arranged; the output shaft of the yaw motor (409) is fixedly connected to a yaw gear (410) with a vertical axis; near the The front end of the traveling frame (200) is respectively fixed with an arc-shaped rack (201) and an arc-shaped track (202) which are concentric with the rotating disk (403); the yaw gear (410) is meshed with the arc-shaped rack (201); the universal track wheel (411) runs on the arc-shaped track (202); two front lower hinge holes (514) and two front upper hinge holes (515) are provided on the left and right sides of the second cantilever bracket (501); a front hinge shaft (424) is fixed at the front end of the slope conveyor belt bracket (401); the front hinge shaft (424) is connected to the two The front lower hinge hole (514) is hinged; two rear upper hinge holes (426) are provided on the left and right sides of the middle of the rectangular frame (402); two long connecting rods (427) are hinged between the two front upper hinge holes (515) and the two rear upper hinge holes (426), respectively; the axial center distance from the front lower hinge hole (514) to the front upper hinge hole (515) is equal to the axial center distance from the front hinge axis (424) to the rear hinge axis (425), thus forming a parallelogram four-bar linkage mechanism, so that the stacking machine head (500) always maintains a horizontal state and avoids pitching.

5. The automatic loading machine according to claim 4, characterized in that: A U-shaped pull frame (405) is fixedly connected to the front end of the inclined conveyor belt support (401), and movable pulleys (408) are respectively installed at both ends of the U-shaped pull frame (405). The two steel wire ropes of the double-drum winch (404) are respectively passed around the fixed pulley (407) and the movable pulley (408) and then fixedly connected to the front end of the first cantilever support (406); the width of the U-shaped pull frame (405) is greater than the width between the two long connecting rods (427). In the event that the steel wire rope of the double-drum winch (404) breaks, the U-shaped pull frame (405) will block the two long connecting rods (427) from descending, thereby preventing the head of the machine from falling, thereby enhancing the safety and reliability of the equipment.

6. The automatic loading machine according to claim 1, characterized in that: Two follow-rotating felt gears (412) are mounted on the first cantilever bracket (406) on both sides of the yaw gear (410). The follow-rotating felt gears (412) are also meshed with the arc-shaped rack (201). A lubricating oil supply device is provided on the first cantilever bracket (406). The lubricating oil supply device is used to provide lubricating oil to the meshing point between the follow-rotating felt gears (412) and the arc-shaped rack (201) to achieve lubrication of the follow-rotating felt gears (412) and ensure smooth transmission between the follow-rotating felt gears (412) and the arc-shaped rack (201). The cross-section of the arc-shaped track (202) is circular, and the circumference of the universal track wheel (411) is V-shaped.

7. The automatic loading machine according to claim 1, characterized in that: A rear slope conveyor belt (413) is installed on the rear side of the slope conveyor belt support (401), and a front slope conveyor belt (414) is installed on the front side, the two being connected and driven by a rear slope conveying motor (415) and a front slope conveying motor (416) respectively; the rear slope conveyor belt (413) and the front slope conveyor belt (414) are supported by spindle-shaped rollers; and the surfaces of the rear slope conveyor belt (413) and the front slope conveyor belt (414) are provided with a herringbone texture to increase friction.

8. The automatic loading machine according to claim 1, characterized in that: Guide plates (417) are respectively arranged on the inner side of the inclined conveyor belt support (401), and the rear end of the guide plate (417) is fixedly connected to the inner side of the rear end of the inclined conveyor belt support (401); a door frame (418) is fixedly arranged near the front end of the inclined conveyor belt support (401), and a second electric cylinder (419) is fixedly arranged on the door frame (418), and the driving end of the second electric cylinder (419) is connected to the middle part of the long strip driving block (421), and the two ends of the driving block (421) are respectively hinged to the inner end of the second connecting rod (420), and the outer end of the second connecting rod (420) is connected to the front end of the guide plate (417); guide sleeves are respectively fixedly arranged on the door frame (418) on both sides of the second electric cylinder (419), and the guide sleeves are slidably matched with the guide rod (422), and the lower end of the guide rod (422) is fixedly connected to the driving block (421).

9. The automatic loading machine according to claim 1, characterized in that: Two vertical guide rails (510) are fixedly arranged on the box body (506) on the opposite side of the inlet, and sliding blocks are slidably matched on the two guide rails (510). The sliding blocks are fixedly connected to a T-shaped connecting block (511). The left and right ends of the T-shaped connecting block (511) are respectively hinged to the upper ends of the two first connecting rods (509), and the upper end of the T-shaped connecting block (511) is connected to the driving end of the first electric cylinder (508); the guide rails (510) are used to withstand the radial force when the first electric cylinder (508) is in motion; the first electric cylinder (5 08) is connected to a floating joint (513) at the driving end thereof, and the floating joint (513) adopts a fisheye bearing structure for compensating for the assembly error between the first electric cylinder (508) and the first connecting rod (509); the upper surface of the flap (507) is smooth or covered with a low-friction material; a travel switch (512) is installed at the lower end of the box body (506) on the opposite side of the inlet, and the travel switch (512) is used to limit the upper limit position of the two flaps (507) and trigger the reversing signal of the first electric cylinder (508).

10. The automatic loading machine according to claim 1, characterized in that: Adjustable wall panels are symmetrically arranged on both sides of the inlet of the box (506), and the adjustable wall panels are adjusted in spacing by a screw mechanism to accommodate material bags (700) of different widths; a photoelectric sensor is installed on the inner wall of the box (506), and the photoelectric sensor is used to detect whether the material bag (700) is in place and send a bag throwing trigger signal to the control system.

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