Flood prevention sand bag self-picking stacker crane

Abstract

The invention relates to the technical field of stacking machines, and provides a flood prevention sand bag self-picking stacking machine which comprises a front stacking vehicle used for stacking sand bags and a rear picking vehicle used for picking up the sand bags and transporting the sand bags to the front stacking vehicle, and a follow-up telescopic conveying device is arranged on the rear picking vehicle and provided with a telescopic end. And the telescopic end is rotationally connected with the front stacking vehicle, so that the rear picking vehicle can adapt to the stacking position of the front stacking vehicle and can continuously transport the sand bags to the front stacking vehicle. By means of the technical scheme, the rear picking vehicle can pick up sand bags and transport the sand bags to the front stacking vehicle through the follow-up telescopic conveying device, the telescopic function of the telescopic end can dynamically adjust the conveying distance according to the relative positions of the two vehicles, the rotating connection allows the rear picking vehicle to deflect by an angle relative to the front stacking vehicle, and the design enables the two vehicles to move and stack at the same time. A continuous operation mode is formed, the long-distance flood control wall construction requirement is met, and meanwhile manual direct sand bag carrying is not needed.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of palletizers, and specifically, to a flood control sandbag self-picking palletizer. Background Art

[0002] During the flood season, building a sandbag protection wall on the river embankment is a common and effective flood control method. However, relying entirely on manual labor to carry and stack sandbags is time-consuming and laborious. When floods have occurred, the personal safety of construction workers cannot be effectively guaranteed. Even considering using an automated palletizer to replace manual labor, most of the palletizers in the current industrial field are robotic arm palletizing robots used in factories, which cannot adapt to the harsh flood control and rescue environment, and generally perform palletizing at fixed points and positions with a small moving range, and cannot build a long-distance flood control wall. Summary of the Invention

[0003] To overcome the above defects, embodiments of the present invention provide a flood control sandbag self-picking palletizer, which solves the technical problems in the related art that robotic arm palletizing robots cannot adapt to the harsh flood control and rescue environment, have a small moving range, and cannot build a long-distance flood control wall.

[0004] According to one aspect, at least one embodiment of the present invention provides a flood control sandbag self-picking palletizer, including: A palletizing front vehicle and a picking rear vehicle. The palletizing front vehicle is used for palletizing sandbags, and the picking rear vehicle is used for picking up sandbags and transporting them to the palletizing front vehicle. A follow-up telescopic conveying device is provided on the picking rear vehicle, and the follow-up telescopic conveying device has a telescopic end, and the telescopic end is rotatably connected to the palletizing front vehicle, so that the picking rear vehicle can adapt to the palletizing position of the palletizing front vehicle and continuously transport sandbags to the palletizing front vehicle.

[0005] For example, the follow-up telescopic conveying device provided by at least one embodiment of the present invention includes: a first-stage conveyor belt. The bottom of the first-stage conveyor belt has a frame portion, and the frame portion is hinged to the picking rear vehicle to adapt to the height difference between the palletizing front vehicle and the picking rear vehicle; A second-stage conveyor belt. The second-stage conveyor belt is slidably connected to the frame portion, and the sliding direction of the second-stage conveyor belt and the conveying direction of the second-stage conveyor belt are the same as the conveying direction of the first-stage conveyor belt. The first-stage conveyor belt and the second-stage conveyor belt can sequentially transport sandbags to the palletizing front vehicle.

[0006] For example, in the follow-up telescopic conveying device provided by at least one embodiment of the present invention, an articulated connecting conveyor belt is provided at one end of the second-stage conveyor belt away from the first-stage conveyor belt. The telescopic end is a bag guiding cover, and the telescopic end has a bag guiding arc portion and a bag blocking portion. The bag guiding arc portion is rotatably connected to the palletizing front vehicle, and the bag blocking portion is located on one side of the connecting conveyor belt to prevent sandbags from falling; Wherein, a first rotary platform is provided on the vehicle after picking up, the frame part is hinged to the first rotary platform, the axial direction of the rotation axis of the first rotary platform is vertical, and the axial direction of the swing of the frame part is horizontal.

[0007] For example, in the follow-up telescopic conveying device provided by at least one embodiment of the present invention, a bag taking device is swingably arranged at one end of the frame part away from the vehicle in front of the palletizing, and the bag taking device is used to pick up sand bags and transport them to the first conveyor belt, and the bag taking device is configured to adjust the bag taking angle after swinging; Wherein, the bag taking device includes: A bag taking conveyor belt, which is swingably arranged on the frame part, the axial direction of the swing of the bag taking conveyor belt is horizontal, and the bag taking conveyor belt has a support frame; A gripper assembly, which is arranged on the support frame and is used to grip sand bags onto the bag taking conveyor belt.

[0008] For example, in the follow-up telescopic conveying device provided by at least one embodiment of the present invention, the gripper assembly includes: A gripper frame, which is swingably arranged on the support frame; A horizontal swing arm and a vertical swing arm, the horizontal swing arm is swingably arranged on the gripper frame, the vertical swing arm is swingably arranged on the horizontal swing arm, and a gripper part is swingably arranged at one end of the vertical swing arm; Wherein, the axial direction of the swing of the gripper frame, the axial direction of the swing of the vertical swing arm, and the axial direction of the swing of the gripper part are all horizontal, and the axial direction of the swing of the horizontal swing arm is vertical.

[0009] For example, in the follow-up telescopic conveying device provided by at least one embodiment of the present invention, a main telescopic conveying device is provided on the vehicle in front of the palletizing, and one end of the main telescopic conveying device is located directly below the telescopic end and is used to transfer the sand bags dropped at the telescopic end; Wherein, a second rotary platform is provided on the vehicle in front of the palletizing, the main telescopic conveying device is arranged on the second rotary platform, and the axial direction of the rotation axis of the second rotary platform is vertical and collinear with the axial direction of the rotational connection of the telescopic end.

[0010] For example, in the follow-up telescopic conveying device provided by at least one embodiment of the present invention, the main telescopic conveying device includes: A receiving conveyor belt, which is arranged on the vehicle in front of the palletizing and is located directly below the telescopic end; A three-stage conveyor belt, which is swingably arranged on the vehicle in front of the palletizing to be able to transfer sand bags to a specified height, and the bottom of the three-stage conveyor belt has a frame part; The fourth-level conveyor belt is slidably connected to the frame part, and the sliding direction of the fourth-level conveyor belt and the conveying direction of the fourth-level conveyor belt are the same as the conveying direction of the third-level conveyor belt. The receiving conveyor belt, the third-level conveyor belt, and the fourth-level conveyor belt can sequentially convey sand bags.

[0011] For example, in the follow-up telescopic conveying device provided by at least one embodiment of the present invention, the swing shaft of the third-level conveyor belt is arranged adjacent to one end of the receiving conveyor belt, the axial direction of the swing of the third-level conveyor belt is horizontal, and a shaping conveying device is further provided on the palletizing front vehicle. The shaping conveying device is connected to the end of the third-level conveyor belt far from the receiving conveyor belt and is used for shaping sand bags; Among them, the shaping conveying device includes: A shaping frame, which is arranged on the top of the frame part along the extending direction of the third-level conveyor belt and is located at the end of the third-level conveyor belt far from the receiving conveyor belt; A plurality of shaping conveying rollers, a plurality of the shaping conveying rollers are all rotatably arranged on the shaping frame and are arranged in sequence along the sand bag conveying direction. The shaping conveying rollers are square rollers.

[0012] For example, in the follow-up telescopic conveying device provided by at least one embodiment of the present invention, the shaping conveying device further includes: A gantry frame, which is fixedly arranged on the top of the shaping frame; Two sliders, both of the two sliders are arranged to move up and down on the gantry frame and are arranged at intervals; A shaping roller, both ends of the shaping roller are respectively rotatably connected to the two sliders in a one-to-one correspondence, and the slider can drive the shaping roller to descend to press and shape the sand bag.

[0013] For example, in the follow-up telescopic conveying device provided by at least one embodiment of the present invention, a feeding cover is swingably arranged at one end of the frame part far from the receiving conveyor belt. One side of the feeding cover has a material receiving port, the material receiving port faces one end of the fourth-level conveyor belt, the bottom of the feeding cover has a feeding port, and an opening and closing door is arranged at the feeding port. The opening and closing door can control the sand bag feeding timing, and the feeding cover is configured to adjust the sand bag feeding angle after swinging; Among them, the swing axis direction of the feeding cover is horizontal, there are two opening and closing doors, both of the two opening and closing doors are swingably arranged at the feeding port and are symmetrically arranged, and each opening and closing door has a connecting part. A driving rod is further arranged to move up and down on the top of the feeding cover. The driving rod has a driving end, and a connecting rod is connected between the driving end and the connecting part. Two ends of the connecting rod are respectively hinged to the driving end and the connecting part in a one-to-one correspondence. After the driving rod moves up and down, it can synchronously drive the two opening and closing doors to swing through the connecting rod to feed sand bags; In addition, a compaction plate is arranged in the feeding hood in a lifting manner, and the sandbag can be compacted after the compaction plate descends.

[0014] The beneficial effects of the embodiments of the present invention are as follows: In the palletizing front vehicle and picking-up rear vehicle cooperation system of the present invention, through the follow-up telescopic conveying device equipped on the picking-up rear vehicle and the rotational connection between its telescopic end and the palletizing front vehicle, the technical problem that a manipulator-type palletizing robot cannot build a long-distance flood control wall is effectively solved.

[0015] Among them, the picking-up rear vehicle can pick up sandbags and transport them to the palletizing front vehicle through the follow-up telescopic conveying device. The telescopic function of the telescopic end can dynamically adjust the conveying distance according to the relative positions of the two vehicles to adapt to the undulation of the river embankment terrain. The rotational connection allows the picking-up rear vehicle to deflect relative to the palletizing front vehicle, enabling the two vehicles to move flexibly in complex terrains such as curved river embankments. At the same time, the palletizing front vehicle continuously palletizes the transported sandbags; this design enables the two vehicles to palletize while moving, forming a continuous operation mode, meeting the requirements for building a long-distance flood control wall. At the same time, there is no need for manual direct handling of sandbags, liberating personnel from dangerous environments, and only remote control of equipment is required.

[0016] Compared with the traditional method, this solution can achieve continuous operation for 24 hours, has strong environmental adaptability, can operate stably under harsh working conditions such as muddy and waterlogged conditions, has high moving flexibility, does not require shutdown for repositioning, and also reduces safety risks. It has advantages such as low cost and rapid deployability. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments of the present invention. Obviously, the following-described drawings are only some exemplary embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the content of the exemplary embodiments of the present invention and these drawings without creative efforts.

[0018] Figure 1 It is a schematic structural diagram of a flood control sandbag self-picking-up palletizing machine in an embodiment of the present invention; Figure 2 It is Figure 1 a diagram of the stopped state of the palletizing front vehicle and the picking-up rear vehicle in the embodiment of Figure 3 It is Figure 1 a diagram of the working state of the palletizing front vehicle and the picking-up rear vehicle in the embodiment of Figure 4 It is Figure 1 a schematic structural diagram of the picking-up rear vehicle in the embodiment of Figure 5 It is Figure 1 a schematic structural diagram of the follow-up telescopic conveying device in the embodiment of Figure 6 is Figure 5 the enlarged view of part F in Figure 7 is Figure 1 the structural schematic diagram of the telescopic end in the embodiment of Figure 8 is Figure 5 the enlarged view of part G in Figure 9 is Figure 1 the structural schematic diagram of the first rotary platform in the embodiment of Figure 10 is Figure 4 the enlarged view of part E in Figure 11 is Figure 1 the structural schematic diagram of the bag-taking device in the embodiment of Figure 12 is Figure 1 the structural schematic diagram of the clamping hand assembly in the embodiment of Figure 13 is Figure 1 the structural schematic diagram of the pre-palletizing vehicle in the embodiment of Figure 14 is Figure 1 the cooperation diagram of the active telescopic conveyor, the shaping conveyor and the feeding hood in the embodiment of Figure 15 is Figure 1 the structural schematic diagram of the second rotary platform in the embodiment of Figure 16 is Figure 1 the structural schematic diagram of the active telescopic conveyor in the embodiment of Figure 17 is Figure 16 the enlarged view of part H in Figure 18 is Figure 1 the structural schematic diagram of the shaping conveyor in the embodiment of Figure 19 is Figure 16 the partial enlarged view of Figure 20 is Figure 1 the internal structural schematic diagram of the feeding hood in the embodiment of Figure 21 is Figure 1 the structural schematic diagram of the driving rod in the embodiment of

[0019] In the figure: 1. Pre-palletizing vehicle, 2. Rear picking vehicle, 3. First rotary platform, 4. Second rotary platform; 10. Follow-up telescopic conveying device, 11. Telescopic end, 110. Bag guiding arc part, 111. Bag blocking part, 12. Primary conveyor belt, 120. Frame part, 13. Secondary conveyor belt, 14. Connecting conveyor belt; 20. Bag taking device, 21. Bag taking conveyor belt, 22. Support frame, 23. Hand clamping assembly, 2301. Hand clamping frame, 2302. Horizontal swing arm, 2303. Vertical swing arm, 2304. Hand clamping part; 30. Active telescopic conveying device, 31. Undertaking conveyor belt, 32. Third-level conveyor belt, 320. Frame part, 33. Fourth-level conveyor belt; 40. shaping conveying device, 41. shaping frame, 42. shaping conveying roller, 43. gantry, 44. slide block, 45. shaping roller; 50. Feeding cover, 51. Feeding port, 52. Feeding port, 53. Opening and closing door, 54. Connecting part; 60, driving rod, 61, driving end, 62, connecting rod; 70. Compact the plate. DETAILED DESCRIPTION

[0020] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention.

[0021] In order to simplify the drawings, only the parts related to the disclosure are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically shown, or only one of them is marked. In this article, "one" not only means "only one", but also means "more than one", and "several" includes "two" and "more than two".

[0022] In this document, 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.

[0023] In the present invention, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is less than that of the second feature.

[0024] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "left" and "right" are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0025] In addition, in the description of this application, the terms "first", "second", etc. are only used for differential description and cannot be construed as indicating or implying relative importance.

[0026] As Figures 1 to 4 shown, it shows a flood control sandbag self-picking and palletizing machine in an embodiment of the present invention. In flood control and emergency rescue, traditional manual palletizing of sandbags has problems of low efficiency and high safety risks, while industrial palletizing machines are difficult to meet the requirements due to poor environmental adaptability and small moving range. Therefore, this solution takes the collaborative structure of "front palletizing vehicle 1 + rear picking vehicle 2" as the core to solve the above problems.

[0027] First of all, the follow-up telescopic conveying device 10 carried by the rear picking vehicle 2 is the core of dynamic bag supply. Its telescopic end 11 can extend along the horizontal or vertical direction. When the front palletizing vehicle 1 moves forward for palletizing, the telescopic end 11 will automatically extend or shorten according to the distance between the two vehicles, avoiding the interruption of bag supply caused by the change of the distance, which directly solves the problem that fixed-point operation cannot adapt to terrain changes and enables the equipment to continuously operate on undulating terrain.

[0028] Secondly, the rotational connection between the telescopic end 11 and the front palletizing vehicle 1 can realize the angular change between the two vehicles, without the need to stop and reposition like traditional positioning palletizing machines. This rotational connection enables the two vehicles to adjust the direction in real time during travel, realizing continuous dynamic palletizing of long flood control walls. Moreover, the rotational connection can also endow the whole device with flexible steering ability. When the two vehicles need to bypass the obstacles on the river embankment or travel along the curved river course, the rear picking vehicle 2 can similarly rotate a certain angle relative to the front palletizing vehicle 1, and the rotational connection design of the telescopic end 11 will not affect the bag supply.

[0029] Finally, the modular division mechanism of the two vehicles completely replaces manual labor. After the sandbags are picked up, the rear vehicle 2 can complete the picking up and transportation of sandbags through a robotic arm or conveyor belt, and transport the sandbags to the front vehicle 1 for stacking through the follow-up telescopic conveyor device 10. Then, the front vehicle 1 for stacking uses structures such as robotic claws on it to stack the sandbags into a protective wall. During the whole process, manual workers only need to control the movement, start and stop of the two vehicles in a safe area without entering the dangerous area, which greatly improves safety.

[0030] Specifically, the flood control sandbag self-picking and stacking machine consists of the front vehicle 1 for stacking and the rear vehicle 2 for picking up. The two vehicles are connected front and back. The front vehicle 1 for stacking consists of a front vehicle conveying system and a front vehicle main unit. The front vehicle main unit includes a crawler chassis and its upper structure, such as a generator set, a hydraulic pump station, and an electric control system for controlling the crawler chassis and the front vehicle conveying system. After the rear vehicle 2 for picking up transports the sandbags to the front vehicle 1 for stacking through the telescopic end 11, the front vehicle conveying system will transport the sandbags to the designated position again to build a flood control wall. The rear vehicle 2 for picking up also includes a crawler chassis, and a generator set, a hydraulic pump station, and an electric control system on it for controlling the crawler chassis and the follow-up telescopic conveyor device 10 for transportation. After the rear vehicle 2 for picking up moves to the position where the sandbags are stacked at a fixed point, the sandbags are then placed on it one by one by manual workers in a safe position.

[0031] In addition, when working, the moving mode of the front vehicle 1 for stacking moves with the stacking process, and the rear vehicle 2 for picking up moves with the sandbag stacking position. Therefore, the front and rear vehicles do not move synchronously, but still need to continuously transport sandbags from the rear vehicle to the front vehicle. So, its follow-up telescopic conveyor device 10 needs to be able to adapt to the changes in the distance and angle between the two vehicles.

[0032] As Figures 5 to 7 shown, the follow-up telescopic conveyor device 10 on the rear vehicle 2 for picking up is the core structure for the flood control sandbag self-picking and stacking machine to achieve dynamic bag supply. It consists of two sets of conveyor belts that are slidably connected (the first-level conveyor belt 12 and the second-level conveyor belt 13). The second-level conveyor belt 13 can slide within the frame part 120 at the bottom of the first-level conveyor belt 12. There is no telescopic power device between the two. Relying on the change in the distance between the front and rear vehicles, it telescopically adapts to the distance between the front and rear vehicles passively. The two sets of conveyor belts can transport the sandbags to the front vehicle 1 for stacking in sequence by themselves. For the sliding structure, sliders 44 that match the built-in guide rails of the frame part 120 can be provided at the bottom of the second-level conveyor belt 13. The guide rails extend along the conveying direction of the first-level conveyor belt 12, and the sliders 44 are slidably connected to the guide rails, which can ensure that the conveying directions of the first-level conveyor belt 12 and the second-level conveyor belt 13 are the same, ensuring the continuity of the sandbag relay transportation.

[0033] In addition, the frame part 120 at the bottom of the first-level conveyor belt 12 is also hingedly connected to the picking rear vehicle 2, with the hinge axis in the horizontal direction. This hinge is a passive connection without an active driving source, enabling the first-level conveyor belt 12 to swing up and down in the vertical plane. When there is a height difference between the stacking front vehicle 1 and the picking rear vehicle 2 due to terrain undulation, the hinge structure of the frame part 120 allows the first-level conveyor belt 12 to automatically adapt to the inclination angle.

[0034] As Figures 5 to 9 shown, to ensure that the telescopic end 11 can be stably connected to the second-level conveyor belt 13 of the follow-up telescopic conveying device 10 and avoid excessive angles that may cause interference between components, a connecting conveyor belt 14 is provided at the end of the second-level conveyor belt 13 far from the first-level conveyor belt 12 through a hinged connection. The hinge axis is in the horizontal direction, enabling the connecting conveyor belt 14 to swing up and down in the vertical plane. Its conveying surface is smoothly docked with the conveying surface of the second-level conveyor belt 13 to ensure that the sand bags can smoothly transition from the second-level conveyor belt 13 to the connecting conveyor belt 14.

[0035] Furthermore, the telescopic end 11 is set as a bag guiding cover, which is composed of a conical arc-shaped bag guiding arc part 110 and plate-shaped bag blocking parts 111 integrally formed on both sides thereof. The bag blocking parts 111 are vertically connected to the side of the second-level conveyor belt 13, while the bottom of the bag guiding arc part 110 is integrally rotationally connected to the stacking front vehicle 1. When the picking rear vehicle 2 turns, the bag guiding cover can rotate synchronously with the stacking front vehicle 1 to ensure that the end of the connecting conveyor belt 14 is always aligned with the entrance of the bag guiding arc part 110. The bag blocking parts 111 can cooperate with the arc-shaped guiding of the bag guiding arc part 110 to enable the sand bags to slide smoothly onto the stacking front vehicle 1.

[0036] In addition, the frame part 120 at the bottom of the first-level conveyor belt 12 is also hingedly connected to the first rotary platform 3 of the picking rear vehicle 2, with the rotation axis in the vertical direction. This rotation is also a passive connection without an active driving source, enabling the rear vehicle crawler chassis and the follow-up telescopic conveying device 10 thereon to have a rotational degree of freedom (such as ±90-degree rotation). By moving the positions of the front vehicle and the rear vehicle, it can synchronously adapt to various sand bag stacking points around the picking rear vehicle 2 and align the first-level conveyor belt 12 with the sand bag stacking points. This composite structure of hinged swing + sliding telescoping can achieve adaptive adjustment without a complex electric control system.

[0037] As Figure 10 shown, at the end of the frame part 120 far from the stacking front vehicle 1, that is, at the end close to the sand bag stacking point, a swingable bag picking device 20 is provided. It is connected to the frame part 120 through a horizontal hinge shaft, allowing the bag picking device 20 to swing back and forth to adjust the bag picking angle.

[0038] For example, the bag-taking device 20 can adopt the structural form of "gripper + conveyor belt". The gripper assembly 23 drives the swing of each swing arm through hydraulic pressure to realize the extension and contraction of the gripper part 2304. When the sand bags are stacked on the ground, the gripper assembly 23 swings downward. After the gripper part 2304 opens, it clamps the sand bag, and then swings upward to release the sand bag above the bag-taking conveyor belt 21. The sand bag is conveyed to the first-stage conveyor belt 12 through the bag-taking conveyor belt 21.

[0039] As Figures 10 to 12 shown, the bag-taking device 20 is composed of a bag-taking conveyor belt 21 and a gripper assembly 23. The bag-taking conveyor belt 21 is installed on the support frame 22. The support frame 22 is hinged to the frame part 120. The swing axis of the conveyor belt is along the horizontal direction, and the tilt angle can be adjusted according to the stacking height of the sand bags to facilitate the conveying of the sand bags. The gripper assembly 23 is arranged on the support frame 22 and is used to pick up the sand bags onto the bag-taking conveyor belt 21. It includes a gripper frame 2301, a horizontal swing arm 2302, a vertical swing arm 2303 and a gripper part 2304. Both ends of the gantry-type gripper frame 2301 are swing-connected to the support frame 22. The horizontal swing arm 2302 is swing-arranged at the center position on the top of the gripper frame 2301. The vertical swing arm 2303 is swing-arranged at one end of the horizontal swing arm 2302 away from the gripper frame 2301. The gripper part 2304 is swing-arranged at one end of the vertical swing arm 2303 away from the horizontal swing arm 2302. The swing axes of each are along the horizontal and vertical directions respectively, and the position adjustment of the gripper part 2304 in the three-dimensional space can be realized to accurately pick up the sand bags at different positions. Each swing arm can be realized by a traditional hinged cylinder. The gripper part 2304 can adopt the structural form of V-shaped claws + elastic buffer. Specifically, the gripper part 2304 is composed of two symmetrically arranged V-shaped claws. Anti-slip rubber pads are attached to the inner sides of each claw to increase the friction with the sand bag and prevent the sand bag from slipping during clamping. The claws are connected to the end of the vertical swing arm 2303 through a hinge shaft, allowing the claws to swing within a certain range to adapt to the uneven surface of the sand bag. The opening and closing of the claws are driven by a hydraulic cylinder.

[0040] As Figures 13 to 15 shown, the front vehicle conveying system is the active telescopic conveying device 30 arranged on the palletizing front vehicle 1. One end of it is located directly below the telescopic end 11 and is used to receive and transfer the sand bags falling from the telescopic end 11. It is composed of a fixed frame and a sliding frame. The sliding frame slides within the fixed frame and can slide back and forth along the length direction of the fixed frame to realize the telescopic function of the conveying device, so as to ensure that the sand bags can be transported to the designated position, even if the distance is far. The active telescopic device can also be installed on the rotary platform two 4 through its fixed frame. The rotation axis is along the vertical direction, and this rotation is also an active rotation to actively adjust the sand bag conveying angle, and the rotation connection axis with the telescopic end 11 is collinear, so that the rotation of the front vehicle structure has no influence on the connection position of the rear vehicle.

[0041] When the sandbag drops from the bag guiding arc portion 110 of the telescopic end 11 onto the conveyor belt of the active telescopic conveying device 30, the conveyor belt runs forward driven by the driving motor, conveying the sandbag away from the front vehicle, that is, dropping the sandbag to the specified stacking position. The rotary platform two 4 can rotate according to the stacking requirements to adjust the conveying direction of the active telescopic conveying device 30 and expand the working range of the conveying device.

[0042] As Figures 13 to 16 shown, the active telescopic conveying device 30 on the stacking front vehicle 1 is composed of a receiving conveyor belt 31, a three-stage conveyor belt 32 and a four-stage conveyor belt 33, forming a three-stage relay conveying structure. The receiving conveyor belt 31 is fixedly installed on the rotary platform two 4 and is directly below the bag guiding arc portion 110 of the telescopic end 11, and is used to stably receive the sandbag slipping from the bag guiding arc portion 110 first. Its width should be slightly larger than the size of the sandbag, and the surface is covered with an anti-slip rubber layer, and baffles are arranged on both sides to prevent the sandbag from falling.

[0043] The three-stage conveyor belt 32 is also swing-mounted on the rotary platform two 4 through a hinge seat. The frame portion 320 at its bottom is the fixed frame, and reinforcing rib plates are arranged inside to improve the stiffness. The hinge seat is located at one end of the frame portion 320 close to the receiving conveyor belt 31 to ensure the stable connection between the three-stage conveyor belt 32 and the receiving conveyor belt 31. The swing of the three-stage conveyor belt 32 is driven by two symmetrically arranged hydraulic cylinders. One end of the cylinder is hinged to the vehicle frame, and the other end is hinged to the middle of the frame portion 320. The angle adjustment of the three-stage conveyor belt 32 is realized by the telescopic movement of the cylinder to convey the sandbag to the specified height position; in addition, similar to the two-stage conveyor belt 13, the four-stage conveyor belt 33 (i.e., the sliding frame) is also slidably connected to the slide rail built in the frame portion 320 through a slider 44. The slide rail extends along the conveying direction of the three-stage conveyor belt 32, which can ensure that the conveying direction of the three-stage conveyor belt 32 is consistent with the conveying direction of the two-stage conveyor belt 13 and ensure the continuity of the sandbag relay conveying.

[0044] During the entire conveying process, the sandbag passes through the receiving conveyor belt 31, the three-stage conveyor belt 32 and the four-stage conveyor belt 33 in sequence. The rotary platform two 4 can drive the active telescopic conveying device 30 to rotate horizontally, the three-stage conveyor belt 32 can adjust the pitch angle, and the four-stage conveyor belt 33 can telescopically adjust the length. The three cooperate to achieve the precise conveying of the sandbag in three-dimensional space.

[0045] As Figures 16 to 17As shown in the figure, the shaping and conveying device 40 is arranged at one end of the three-stage conveyor belt 32 away from the receiving conveyor belt 31. This layout can regularize the shape of the sandbag before it enters the subsequent stacking process, ensuring the stability and neatness of stacking. Specifically, a shaping structure composed of several square shaping conveyor rollers 42 can be adopted. These shaping conveyor rollers 42 are arranged in sequence along the sandbag conveying direction on the shaping frame 41. When the sandbag passes by, the edges and corners of the square rollers can squeeze and comb the irregular parts of the sandbag, making its surface smoother, and effectively solving problems such as deformation and bulging of the sandbag during stacking and transportation. After shaping, the sandbag has a regular shape and can be closely attached during stacking, enhancing the overall strength and stability of the flood control wall.

[0046] As Figure 18 shown, the shaping and conveying device 40 specifically includes a shaping frame 41 and square shaping conveyor rollers 42. The shaping frame 41 is a rectangular frame structure and is fixed to the top of the frame part 320 of the three-stage conveyor belt 32 by bolts, located at the end position of the three-stage conveyor belt 32. Its length direction is consistent with the sandbag conveying direction, ensuring that the sandbag can smoothly enter the shaping area. And several square shaping conveyor rollers 42 can be arranged at equal intervals in the shaping frame 41 through bearing seats. Both ends of each roller shaft are rotatably connected to the two side frames of the shaping frame 41, and the axial direction of the roller shaft is perpendicular to the sandbag conveying direction. The cross-section of the square roller is square to provide sufficient friction and shaping force.

[0047] As another implementation, the square roller can be replaced with an oval roller. During the rotation of the oval roller, its long axis and short axis alternately contact the sandbag, generating periodic pressure changes, enhancing the disturbance and redistribution effect on the internal filling of the sandbag, and further improving the shaping quality.

[0048] As Figure 18 shown, further, the shaping and conveying device 40 is further increased with the structure of a gantry 43, a slider 44 and a shaping roller 45, forming an adjustable dynamic shaping mechanism. The gantry 43 is an inverted "door"-shaped steel structure and is fixed to the top of the shaping frame 41 by bolts, spanning above the sandbag conveying path. Its columns are perpendicularly connected to the two side frames of the shaping frame 41 to ensure the stability of the overall structure. Two sliders 44 are symmetrically arranged on the cross beam of the gantry 43 and slide up and down through linear guides. The guides are arranged in the vertical direction. A connecting ear plate is provided at the bottom of the slider 44 for installing the two end shafts of the shaping roller 45. The shaping roller 45 is a cylindrical roller body, and its surface is wrapped with an elastic rubber layer. The two end shafts of it are respectively rotatably connected to the connecting ear plates of the two sliders 44 through bearings, so that the shaping roller 45 can be lifted and lowered synchronously under the drive of the slider 44 and can rotate around its axis at the same time.

[0049] The advantages are as follows. When the sandbag is conveyed to the lower part of the shaping roller 45, the slider 44 can move downward through a hydraulic or electric driving device, driving the shaping roller 45 to descend to the surface of the sandbag, flattening the convex part of the sandbag. At the same time, relative movement is generated between the sandbag and the surface of the shaping roller 45 during the conveying process, driving the shaping roller 45 to rotate, avoiding damage to the sandbag due to excessive friction. For sandbags filled relatively loosely, the slider 44 can be controlled to lower the shaping roller 45 to a lower position, increasing the compaction force to improve the shaping effect.

[0050] As Figures 19 to 20 shown, at the output end of the sandbag (the end of the frame part 320 away from the receiving conveyor belt 31), a feeding hood 50 is swingably provided to adjust the sandbag throwing angle. In the complex and changeable flood control site, different topographies and stacking requirements have diverse requirements for the sandbag throwing angle. When encountering situations such as changes in the dam slope and irregular shapes of the existing sandbag stacks, the feeding hood 50 can swing flexibly, enabling the sandbag to be thrown not only in a vertically dropping manner.

[0051] Specifically, the material receiving port 51 on one side thereof faces one end of the fourth-stage conveyor belt 33 to ensure that the sandbag can be smoothly transferred from the fourth-stage conveyor belt 33 into the feeding hood 50. At the feeding port 52 at the bottom of the feeding hood 50, a switch door 53 capable of precisely controlling the sandbag throwing timing is provided. The operator can control the opening and closing of the switch door 53 to throw the sandbag to the designated position at the most appropriate moment, enabling the sandbags to be thrown one by one in an orderly manner and avoiding the situation of sandbag accumulation or misalignment.

[0052] As Figures 19 to 21 shown, further, the driving rod 60 is located at the central position at the top of the feeding hood 50 and realizes vertical lifting movement through a linear guide rail. Its driving end 61 is connected to the connecting part 54 of the switch door 53 through a connecting rod 62, and both ends of the connecting rod 62 are hinged to the two respectively; when the driving rod 60 descends under the drive of a hydraulic cylinder or an electric push rod, the driving end 61 pulls the two switch doors 53 to swing outward synchronously through the connecting rod 62, opening the feeding port 52, and vice versa to close the feeding port 52, synchronously controlling the two switch doors 53 to avoid sandbag jamming.

[0053] In addition, a compaction plate 70 is additionally provided for lifting in the throwing hood. The compaction plate 70 descends under the drive of a cylinder or a motor, applying a vertical pressure to the thrown sandbag, compressing the air inside the sandbag and making its surface flat to improve the firmness of the flood control wall; the compaction plate 70 can be a circular metal plate, and its diameter is slightly smaller than the size of the feeding port 52 to ensure that it can descend through the feeding port and act on the thrown sandbag.

[0054] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A flood control sandbag self-picking and palletizing machine, characterized in that, Including: A pre-palletizing vehicle (1) and a post-picking vehicle (2). The pre-palletizing vehicle (1) is used for palletizing sand bags. The post-picking vehicle (2) is used for picking up sand bags and transporting them to the pre-palletizing vehicle (1). A follow-up telescopic conveying device (10) is provided on the post-picking vehicle (2). The follow-up telescopic conveying device (10) has a telescopic end (11). The telescopic end (11) is rotatably connected to the pre-palletizing vehicle (1) so that the post-picking vehicle (2) can adapt to the palletizing position of the pre-palletizing vehicle (1) and continuously transport sand bags to the pre-palletizing vehicle (1). The follow-up telescopic conveying device (10) includes: A first-stage conveyor belt (12). The bottom of the first-stage conveyor belt (12) has a frame part (120). The frame part (120) is hinged to the post-picking vehicle (2) to adapt to the height difference between the pre-palletizing vehicle (1) and the post-picking vehicle (2). A second-stage conveyor belt (13). The second-stage conveyor belt (13) is slidably connected to the frame part (120). Both the sliding direction of the second-stage conveyor belt (13) and the conveying direction of the second-stage conveyor belt (13) are the same as the conveying direction of the first-stage conveyor belt (12). The first-stage conveyor belt (12) and the second-stage conveyor belt (13) can sequentially transport sand bags to the pre-palletizing vehicle (1).

2. The self-picking and stacking machine for flood control sandbags according to claim 1, characterized in that One end of the second-stage conveyor belt (13) far from the first-stage conveyor belt (12) is hinged with a connecting conveyor belt (14). The telescopic end (11) is a bag guiding cover. The telescopic end (11) has a bag guiding arc part (110) and a bag blocking part (111). The bag guiding arc part (110) is rotatably connected to the pre-palletizing vehicle (1). The bag blocking part (111) is located on one side of the connecting conveyor belt (14) and is used to prevent sand bags from falling. Among them, a first rotary platform (3) is provided on the post-picking vehicle (2). The frame part (120) is hinged to the first rotary platform (3). The axial direction of the rotation axis of the first rotary platform (3) is vertical, and the axial direction of the swing of the frame part (120) is horizontal.

3. The self-picking and stacking machine for flood control sandbags according to claim 2, characterized in that A bag picking device (20) is swingably provided at one end of the frame part (120) far from the pre-palletizing vehicle (1). The bag picking device (20) is used for picking up sand bags and transporting them onto the first-stage conveyor belt (12). The bag picking device (20) is configured to adjust the bag picking angle after swinging. Among them, the bag picking device (20) includes: A bag picking conveyor belt (21). The bag picking conveyor belt (21) is swingably provided on the frame part (120). The axial direction of the swing of the bag picking conveyor belt (21) is horizontal. The bag picking conveyor belt (21) has a support frame (22). A gripper assembly (23). The gripper assembly (23) is provided on the support frame (22) and is used for gripping sand bags onto the bag picking conveyor belt (21).

4. The flood control sandbag self-picking and stacking machine according to claim 3, characterized in that, The gripper assembly (23) includes: A gripper frame (2301). The gripper frame (2301) is swingably provided on the support frame (22). A transverse swing arm (2302) and a vertical swing arm (2303), the transverse swing arm (2302) is swingably arranged on the gripper frame (2301), the vertical swing arm (2303) is swingably arranged on the transverse swing arm (2302), and a gripper part (2304) is swingably arranged at one end of the vertical swing arm (2303); Among them, the swing axis of the gripper frame (2301), the swing axis of the vertical swing arm (2303), and the swing axis of the gripper part (2304) are all horizontal, and the swing axis of the transverse swing arm (2302) is vertical.

5. A flood control sandbag self-picking and palletizing machine according to any one of claims 1 to 4, characterized in that, A main telescopic conveyor device (30) is provided on the front stacker vehicle (1), and one end of the main telescopic conveyor device (30) is located directly below the telescopic end (11) and is used for transferring the sand bags that fall at the telescopic end (11); Among them, a second rotary platform (4) is provided on the front stacker vehicle (1), the main telescopic conveyor device (30) is arranged on the second rotary platform (4), and the rotation axis of the second rotary platform (4) is vertical and collinear with the rotation connection axis of the telescopic end (11).

6. The self-picking and stacking machine for flood control sandbags according to claim 5, characterized in that, The main telescopic conveyor device (30) includes: A receiving conveyor belt (31), the receiving conveyor belt (31) is arranged on the front stacker vehicle (1) and is located directly below the telescopic end (11); A three-stage conveyor belt (32), the three-stage conveyor belt (32) is swingably arranged on the front stacker vehicle (1) so as to be able to transfer the sand bags to a specified height, and the bottom of the three-stage conveyor belt (32) has a frame part (320); A four-stage conveyor belt (33), the four-stage conveyor belt (33) is slidably connected to the frame part (320), and the sliding direction and the conveying direction of the four-stage conveyor belt (33) are the same as the conveying direction of the three-stage conveyor belt (32), and the receiving conveyor belt (31), the three-stage conveyor belt (32), and the four-stage conveyor belt (33) can convey the sand bags in sequence.

7. A flood control sandbag self-picking and stacking machine according to claim 6, characterized in that The swing axis of the three-stage conveyor belt (32) is adjacent to one end of the receiving conveyor belt (31), the swing axis of the three-stage conveyor belt (32) is horizontal, and a shaping conveyor device (40) is further provided on the front stacker vehicle (1), and the shaping conveyor device (40) is connected to the end of the three-stage conveyor belt (32) away from the receiving conveyor belt (31) and is used for shaping the sand bags; Among them, the shaping conveyor device (40) includes: A shaping frame (41), the shaping frame (41) is arranged along the extending direction of the three-stage conveyor belt (32) on the top of the frame part (320) and is located at the end of the three-stage conveyor belt (32) away from the receiving conveyor belt (31); A plurality of shaping conveyor rollers (42), a plurality of the shaping conveyor rollers (42) are all rotatably arranged on the shaping frame (41) and are arranged in sequence along the sand bag conveying direction, and the shaping conveyor rollers (42) are square rollers.

8. The self-picking and palletizing machine for flood control sandbags according to claim 7, characterized in that, The shaping conveyor device (40) further includes: A gantry frame (43), the gantry frame (43) is fixedly arranged on the top of the shaping frame (41); Two sliders (44), both of the two sliders (44) are arranged to be lifted and lowered on the gantry (43) and arranged at intervals; A shaping roller (45), both ends of the shaping roller (45) are respectively rotatably connected to the two sliders (44) in a one-to-one correspondence, and the slider (44) can drive the shaping roller (45) to descend to press the shaped sandbag.

9. The self-picking and stacking machine for flood control sandbags according to claim 7, characterized in that, One end of the frame part (320) far from the receiving conveyor belt (31) is swingably provided with a feeding hood (50). One side of the feeding hood (50) has a material receiving port (51). The material receiving port (51) faces one end of the fourth-level conveyor belt (33). The bottom of the feeding hood (50) has a feeding port (52). A opening and closing door (53) is provided at the feeding port (52). The opening and closing door (53) can control the sandbag feeding timing. The feeding hood (50) is configured to adjust the sandbag feeding angle after swinging; Wherein, the swinging axis of the feeding hood (50) is horizontal. There are two opening and closing doors (53). Both of the two opening and closing doors (53) are swingably arranged at the feeding port (52) and symmetrically arranged. And each opening and closing door (53) has a connecting part (54). A driving rod (60) is also arranged to be lifted and lowered on the top of the feeding hood (50). The driving rod (60) has a driving end (61). A connecting rod (62) is connected between the driving end (61) and the connecting part (54). Both ends of the connecting rod (62) are respectively hinged to the driving end (61) and the connecting part (54) in a one-to-one correspondence. After the driving rod (60) is lifted and lowered, it can synchronously drive the two opening and closing doors (53) to swing through the connecting rod (62) to feed the sandbag; In addition, a compaction plate (70) is also arranged to be lifted and lowered in the feeding hood (50). After the compaction plate (70) descends, it can compact the sandbag.

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