Movable automatic car loader

Abstract

The invention discloses a movable automatic car loader. The movable automatic car loader comprises a support; the carrying device is arranged on the bracket and realizes material packaging; the power supply device provides power for operation of the car loader; the controller is used for controlling the operation of the car loader; the support is in a portal frame shape, and the bottom of the support is provided with four independently-operating traveling crane driving wheel devices. The travelling crane driving wheel device comprises a roller bracket of which the horizontal plane rotates at the bottom of the bracket, a horizontal plane rotating mechanism for driving the roller bracket, a roller of which the vertical plane rotates, and a vertical plane rotating mechanism for driving the roller; and the controller controls the travelling crane driving wheel device. The car loader is convenient to integrally move and high in flexibility.

Description

Technical Field

[0001] The present invention relates to the field of logistics loading and unloading, and in particular to a movable automatic loading machine. Background Art

[0002] During transportation, granular materials are often packed in bags and then loaded onto vehicles for shipment. In order to save labor, mechanized loading equipment is currently used for loading. Generally, the loading equipment is fixed in one position, and then the transport vehicle drives to this loading position for loading. When the loading position changes, the loading equipment needs to be disassembled and then installed at the new loading position, so the whole process is rather cumbersome, time-consuming and laborious. Summary of the Invention

[0003] In order to overcome the deficiencies in the prior art, the present invention provides a movable automatic loading machine, which has the advantage of high mobility.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions: A movable automatic loading machine, comprising: A bracket; A handling device, arranged on the bracket and used to load materials onto the vehicle; A power supply device, providing power for the operation of the loading machine; A controller, used to control the operation of the loading machine; The bracket is in the shape of a gantry and is provided with four independently operating traveling driving wheel devices at its bottom; each traveling driving wheel device includes a roller bracket rotatable in a horizontal plane at the bottom of the bracket, a horizontal plane rotating mechanism for driving the roller bracket to rotate in the horizontal plane, a roller rotatable in a vertical plane, and a vertical plane rotating mechanism for driving the roller to rotate; the controller controls the traveling driving wheel devices.

[0005] By adopting the above technical solutions, four horizontal plane rotating mechanisms drive their respective roller brackets and rollers to rotate in the horizontal plane, so that the loading machine can change direction and turn. Four vertical plane rotating mechanisms drive the rollers to rotate in the vertical plane, so that the whole loading machine can move forward or backward. The controller can plan the forward route by controlling the traveling driving wheel devices, which facilitates the overall movement of the loading machine, has high flexibility, and at the same time makes the discharging position of the handling device move along with the truck during the loading process, thus improving the loading efficiency.

[0006] Optionally, magnetic deviation correction and positioning devices are respectively arranged on the two supporting bottom parts of the bracket; the magnetic deviation correction and positioning devices are electrically connected to the controller.

[0007] By adopting the above technical solutions, the presence of the magnetic deviation correction and positioning devices can make the moving position of the loading machine more accurate.

[0008] Optionally, the handling device includes a transverse movement frame and at least one handling mechanism; the transverse movement frame is arranged on the top of the support and supported across both sides of the support; the handling mechanism includes: A transverse movement driving frame that horizontally slides along the length direction of the transverse movement frame; A transverse movement driving assembly for driving the horizontal movement of the transverse movement driving frame; A vertical movement driving frame that is vertically slidably arranged on the transverse movement driving frame; A vertical movement driving assembly for driving the vertical lifting of the vertical movement driving frame; A material package gripper arranged at the bottom of the vertical movement driving frame for gripping the material package; A horizontal rotation joint connected to the bottom of the vertical movement driving frame for driving the material package gripper to rotate on the horizontal plane.

[0009] By adopting the above technical solution, during loading, the material package gripper grabs the material package. With the help of the horizontal rotation joint, it can adapt to different gripping and placing states of the material package. Then, with the help of the transverse movement driving assembly and the transverse movement driving frame, the material package gripper and the material package it grabs can be moved horizontally along the transverse direction of the freight car to reach the appropriate position. Then, with the help of the vertical movement driving assembly and the vertical movement driving frame, the material package is transported to the correct loading position. After that, the material package gripper releases the material package. According to the above working principle, combined with the moving ability of the loading machine, the loading of the entire freight car can be completed, and the loading efficiency is high.

[0010] Optionally, the vertical movement driving frame includes a vertical movement outer sleeve, a vertical movement inner sleeve, and an inner sleeve retraction component; the vertical movement outer sleeve is driven by the vertical movement driving assembly; the vertical movement inner sleeve vertically expands and contracts along the vertical movement outer sleeve and retracts when subjected to an upward external force; the inner sleeve retraction component includes a traction rope and a traction rope winding and unwinding member; one end of the traction rope is connected to the vertical movement inner sleeve, and the other end is connected to the traction rope winding and unwinding member; the horizontal rotation joint is connected to the bottom of the vertical movement inner sleeve.

[0011] By adopting the above technical solution, when the material package gripper moves up and down, first, the vertical movement driving assembly drives the vertical movement outer sleeve and the vertical movement inner sleeve to move up and down. When approaching the gripping position or the placing position, the traction rope winding and unwinding member unwinds the traction rope, and the vertical movement inner sleeve approaches and descends due to its own weight until the material package gripper contacts the material package or the material package reaches the appropriate loading position. During this process, when the vertical movement inner sleeve is subjected to an upward external force, it retracts, and the material package does not collide with the freight car, and the material package gripper does not collide with the material package, avoiding damage caused by the collision of the three.

[0012] Optionally, a tension monitoring component is arranged on the vertical movement inner sleeve; the tension monitoring component is used to monitor the tension of the traction rope; when the tension of the traction rope is less than the set value, the traction rope winding and unwinding member stops unwinding the traction rope.

[0013] By adopting the above technical solution, when the tension monitoring component detects that the tension of the towing rope is less than the set value, the towing rope winding and unwinding component stops unwinding the towing rope, thus avoiding excessive unwinding of the towing rope, reducing the subsequent winding time of the towing rope, improving the handling efficiency, and at the same time reducing the possibility of the towing rope being accidentally hooked.

[0014] Optionally, the tension monitoring component includes a monitoring bracket, a guide wheel component slidably arranged on the monitoring bracket, an elastic component, and a first pressure sensor; the sliding direction of the guide wheel component is perpendicular to the direction of the towing rope in the tension state; the elastic component applies an elastic force to the guide wheel component towards the towing rope; the first pressure sensor is arranged on the monitoring bracket and monitors the pressure applied by the towing rope to the guide wheel component; the first pressure sensor is in telecommunication connection with the towing rope winding and unwinding component.

[0015] By adopting the above technical solution, the towing rope in the tension state will overcome the elastic force of the elastic component, so that the guide wheel component abuts against the first pressure sensor. When the towing rope is out of the tension state, the guide wheel component disengages from the first pressure sensor under the action of the elastic component, so that the pressure detected by the first pressure sensor changes, thus sending a signal to the towing rope winding and unwinding component to stop running, and timely stopping the unwinding of the towing rope.

[0016] Optionally, the material package gripper includes a gripper bracket, a pair of gripper bodies symmetrically arranged relative to the gripper bracket, a pair of gripper driving components, and a pair of gravity pressing components symmetrically arranged relative to the gripper bracket; the pair of gripper bodies and the gripper driving components are in one-to-one correspondence; the gripper driving component is hinged between the gripper bracket and the corresponding side of the gripper body and is used to drive the corresponding side of the gripper body to swing; the pair of gravity pressing components are arranged on the gripper bracket and their distribution directions are perpendicular to the distribution direction of the pair of gripper bodies; the gravity pressing component includes a gravity pressing plate; the gravity pressing plate is movably arranged on the gripper bracket in a lifting manner.

[0017] By adopting the above technical solution, before the pair of gripper bodies grip the material package, the pair of gravity pressing plates first press against the material package. In this way, when the pair of gripper bodies grip the material package, the material package is not easily displaced and the gripping is more accurate; when placing the material package, the pair of gravity pressing plates always press against the material package, so that the placement position of the material package on the vehicle is more accurate, which is beneficial to the subsequent placement of the material package.

[0018] Optionally, the gripper driving component includes a gripper linear driving member, a connecting rod group, and a swing extreme position monitoring member; the gripper linear driving member drives the corresponding side of the gripper body to swing through the connecting rod group; the swing extreme position monitoring member is used to monitor the extreme position during the swinging process of the gripper body; the gripper linear driving member includes a main electric cylinder and a fine-tuning electric cylinder which are coaxially telescopically arranged; the main electric cylinder is used to realize the telescopic stroke of the gripper linear driving member; the fine-tuning electric cylinder is in telecommunication connection with the swing extreme position monitoring member to realize that the gripper body swings in place.

[0019] By adopting the above technical solution, when the gripper body cannot reach the set extreme position, the two gripper bodies will be misaligned, resulting in a situation where one gripper body is overloaded. If in this state for a long time, the overloaded gripper body will be deformed, affecting the service life of the gripper body. Therefore, the swing extreme position monitoring member monitors the extreme position during the swinging process of the gripper body, and then the fine-tuning electric cylinder makes fine adjustments according to the monitoring situation, which can reduce the possibility of the above situation and improve the service life of the gripper body.

[0020] Optionally, the gripper body includes a plurality of finger claws distributed in parallel along the distribution direction of a pair of the gravity pressing components; the finger claws are straight rods.

[0021] By adopting the above technical solution, the straight rod finger claws are not easy to scratch the material package, improving the quality of handling.

[0022] Optionally, at least one conveyor belt is arranged on the bracket; the conveyor belt conveys the material package to the handling device to complete the loading of the vehicle.

[0023] By adopting the above technical solution, the loading machine is equipped with a conveyor belt, which can transport the material package to the handling device, avoiding the situation of taking out the material package from the outside by the overall movement of the loading machine, greatly reducing the movement path of the loading machine, and being beneficial to improving the loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 is a schematic structural diagram of Embodiment 1 of the present invention.

[0025] Figure 2 is the Figure 1 schematic structural diagram of the partial enlargement of A in the present invention.

[0026] Figure 3 is a schematic structural diagram of the handling device and the conveyor belt of Embodiment 1 of the present invention.

[0027] Figure 4 is a schematic structural diagram of the handling mechanism and the transverse moving frame of Embodiment 1 of the present invention.

[0028] Figure 5 It is a schematic structural diagram of the cross-section of the vertical movement driving frame in the first embodiment of the present invention.

[0029] Figure 6 It is a schematic structural diagram of the cross-section of the vertical movement driving frame in the first embodiment of the present invention.

[0030] Figure 7 It is of the present invention Figure 6 Schematic diagram of the partial enlargement of B therein.

[0031] Figure 8 It is of the present invention Figure 6 Schematic diagram of the partial enlargement of C therein.

[0032] Figure 9 It is a schematic structural diagram of the material package gripper in the first embodiment of the present invention.

[0033] Figure 10 It is a front view schematic structural diagram of the material package gripper in the first embodiment of the present invention.

[0034] Figure 11 It is of the present invention Figure 10 Schematic diagram of the partial enlargement thereof.

[0035] Figure 12 It is a front view schematic structural diagram of the material package gripper in the second embodiment of the present invention.

[0036] Explanation of reference numerals: 10. Bracket; 11. Support side frame; 12. Upper connection frame; 13. Maintenance ladder; 20. Traveling driving wheel device; 21. Roller bracket; 22. Horizontal plane driven gear; 23. Horizontal plane driving servo motor; 24. Horizontal plane driving gear; 25. Roller; 26. Vertical plane driving servo motor; 30. Handling device; 40. Conveyor belt; 50. Material package; 60. Magnetic deviation correction and positioning device; 70. Power supply device; 80. Transverse movement frame; 90. Handling mechanism; 91. Lateral movement drive frame; 92. Vertical movement drive assembly; 93. Lateral movement drive assembly; 94. Vertical movement drive frame; 941. Vertical movement outer sleeve; 942. Vertical guide wheel; 943. Vertical movement inner sleeve; 944. Sliding limit strip; 945. Rewinding servo motor; 946. Traction rope rewinding disc; 9461. Traction rope; 947. Intermediate guide pulley; 948. Tension monitoring component; 9481. Monitoring bracket; 9482. Guide pulley seat; 9483. Monitoring guide pulley; 9484. Compression spring; 9485. First pressure sensor; 95. Horizontal rotation joint; 96. Material package gripper; 961. Gripper bracket; 962. Main electric cylinder; 9621. Connecting end rod; 9622. Fine-tuning electric cylinder; 963. First connecting rod; 9631. Second hinge shaft; 9632. First hinge shaft; 9633. First movement track; 964. Second connecting rod; 9641. Fourth hinge shaft; 9642. Third hinge shaft; 9643. Second movement track; 965. Gripper body; 9651. Gripper horizontal support bar; 9652. Finger; 966. Gravity pressing component; 9661. Vertical sliding seat; 9662. Gravity pressing plate; 967. Vertical support plate; 968. Second pressure sensor. Specific embodiments

[0037] The following will further describe the present invention in detail with reference to the attached Figures 1 - 12 drawings.

[0038] Embodiment 1: Disclose a movable automatic loading machine. Refer to Figure 1, including a bracket 10, a handling device 30, a power supply device 70, a pair of conveyor belts 40, four independently operating traveling drive wheel devices 20, a controller, and a handling device 30; the bracket 10 is in the shape of a gantry, including a pair of parallel support side frames 11 and a pair of parallel upper connecting frames 12. The support side frames 11 are in the shape of a rectangular frame, and the pair of upper connecting frames 12 are horizontally distributed and fixed between the tops of the pair of support side frames 11. Two traveling drive wheel devices 20 are fixed to the bottom of the support side frame 11 along its length direction, and the four traveling drive wheel devices 20 are rectangularly distributed. The controller is fixed to one of the support side frames 11 and is used to control the operation of the loading machine. The power supply device 70 is fixed to one of the support side frames 11 and provides power for the operation of the loading machine. The pair of conveyor belts 40 are respectively fixed to the pair of support side frames 11 and are used to convey the material packages 50 from the outside to the handling device 30. The handling device 30 is arranged between the pair of support side frames 11 and realizes the loading of the material packages 50 onto the truck. During operation, the truck reverses into the space between the pair of support side frames 11, and then the pair of conveyor belts 40 convey the material packages 50 from the outside to the handling device 30. Then, the handling device 30 transfers the material packages 50 onto the truck. During this process, the loading machine moves along the truck by means of the four traveling drive wheel devices 20. For the convenience of subsequent repair and maintenance, a maintenance ladder 13 is provided on one of the support side frames 11.

[0039] Reference Figure 2 , the traveling drive wheel device 20 includes a roller bracket 21 that rotates horizontally on the bottom of the support side frame 11, a horizontal plane rotation mechanism for driving the roller bracket 21 to rotate horizontally, a roller 25 that rotates vertically, and a vertical plane rotation mechanism for driving the roller 25 to rotate vertically; the horizontal plane rotation mechanism includes a horizontal plane drive servo motor 23 fixed to the support side frame 11, a horizontal plane driving gear 24 coaxially fixed to the output shaft of the horizontal plane drive servo motor 23, and a horizontal plane driven gear 22 coaxially fixed to the rotating shaft of the roller bracket 21; the horizontal plane driven gear 22 meshes with the horizontal plane driving gear 24; the vertical plane rotation mechanism includes a vertical plane drive servo motor 26 fixed to the roller 25; the roller 25 is coaxially fixed to the output shaft of the vertical plane drive servo motor 26; the controller controls the vertical plane drive servo motor 26 and the horizontal plane drive servo motor 23. During operation, when the horizontal plane drive servo motor 23 is started, it can drive the roller 25 to rotate on the horizontal plane, so that the loading machine can change direction and turn. When the vertical plane drive servo motor 26 drives the roller 25 to rotate on the vertical plane, the loading machine can move forward or backward. In this way, the controller can plan the forward route by controlling the vertical plane drive servo motor 26 and the horizontal plane drive servo motor 23, which facilitates the overall movement of the loading machine and has high flexibility.

[0040] Reference Figure 3, the handling device 30 includes a transverse movement frame 80 and four handling mechanisms 90; the transverse movement frame 80 is fixed between the support side frames 11, and the four handling mechanisms 90 are arranged on the transverse movement frame 80 and are evenly divided into two groups to respectively correspond to a pair of conveyor belts 40, so that the handling efficiency is high; of course, there can also be only one handling mechanism 90, and the conveyor belt 40 on the corresponding side is also reduced to one. The handling efficiency of this solution is of course not as good as that of the four handling mechanisms 90 cooperating with a pair of conveyor belts 40.

[0041] Reference Figure 4 , the handling device 30 includes a transverse movement frame 80 and at least one handling mechanism 90; the transverse movement frame 80 is arranged on the top of the bracket 10 and supports across both sides of the bracket 10; the handling mechanism 90 includes a transverse movement driving frame 91, a transverse movement driving component 93, a vertical movement driving frame 94, a vertical movement driving component 92, a material package gripper 96 and a horizontal rotation joint 95; the transverse movement driving frame 91 horizontally slides along the length direction of the transverse movement frame 80 through a pair of horizontally distributed linear guide rails; the transverse movement driving component 93 drives the transverse movement driving frame 91 to move horizontally; the vertical movement driving frame 94 is vertically slidably arranged on the transverse movement driving frame 91 through a pair of horizontally distributed vertical linear guide rails; the vertical movement driving component 92 drives the vertical movement driving frame 94 to vertically lift and lower; the horizontal rotation joint 95 is connected to the bottom of the vertical movement driving frame 94 and is used to drive the material package gripper 96 to rotate on the horizontal plane; the material package gripper 96 is used to grab the material package 50.

[0042] Reference Figure 4 , the transverse movement driving component 93 and the vertical movement driving component 92 can be a combination of a servo motor and a gear-rack transmission mechanism. Of course, an electric slide table can also be used.

[0043] Reference Figure 5 and Figure 6, the vertical movement driving frame 94 includes a vertical movement outer sleeve 941, a vertical movement inner sleeve 943, and an inner sleeve retraction component; the vertical movement outer sleeve 941 is driven by a vertical movement driving assembly 92; the vertical movement inner sleeve 943 vertically expands and contracts along the vertical movement outer sleeve 941 and retracts when subjected to an upward external force; the inner sleeve retraction component includes a traction rope 9461 and a traction rope winding and unwinding member; one end of the traction rope 9461 is connected to the vertical movement inner sleeve 943, and the other end is connected to the traction rope winding and unwinding member; the horizontal rotation joint 95 is connected to the bottom of the vertical movement inner sleeve 943. To ensure the accuracy of the sliding direction between the vertical movement inner sleeve 943 and the vertical movement outer sleeve 941, a pair of vertically arranged cylindrical sliding limit strips 944 are respectively welded on a pair of opposite vertical end faces of the vertical movement inner sleeve 943, and two sets of upper and lower sliding limit groups are respectively fixed on a pair of opposite vertical end faces of the vertical movement outer sleeve 941; the sliding limit group includes a pair of horizontally arranged vertical guide wheels 942; an annular groove-shaped annular guide groove is formed on the outer cylindrical surface of the vertical guide wheel 942, and the cross-section of the annular guide groove is U-shaped, and the sliding limit strip 944 is located in the annular guide groove of the vertical guide wheel 942.

[0044] Reference Figures 6 - 8 , the traction rope winding and unwinding member includes a traction driving frame fixed to the upper end of the outer side wall of the vertical movement outer sleeve 941, a traction rope winding disc 946 rotatably connected to the traction driving frame, and a winding servo motor 945 fixed to the traction driving frame and coaxially and fixedly connected to the traction rope winding disc 946; one end of the traction rope 9461 is wound around the traction rope winding disc 946. To facilitate the guiding of the traction rope 9461, an intermediate guide pulley 947 is provided at the top of the vertical movement outer sleeve 941; one end of the traction rope 9461 passes through the intermediate guide pulley 947 after coming out of the traction rope winding disc 946 and is fixed to the bottom side wall of the vertical movement inner sleeve 943; of course, in order to prevent the traction rope 9461 from accidentally detaching, a number of vertically distributed rope sleeves can be provided on the outer side wall of the vertical movement outer sleeve 941 for the traction rope 9461 to pass through.

[0045] Reference Figure 8 , in order to enable the winding servo motor 945 to stop in time to avoid excessive unwinding of the traction rope 9461, a tension monitoring component 948 is provided on the bottom side wall of the vertical movement inner sleeve 943; the tension monitoring component 948 is used to monitor the tension of the traction rope 9461; when the tension of the traction rope 9461 is less than the set value, the traction rope winding and unwinding member stops unwinding the traction rope 9461.

[0046] Reference Figure 8, the tension monitoring component 948 includes a monitoring bracket 9481, a guide wheel component slidably arranged on the monitoring bracket 9481, an elastic component, and a first pressure sensor 9485; the sliding direction of the guide wheel component is perpendicular to the direction of the tensioned towing rope 9461; the elastic component applies an elastic force to the guide wheel component towards the towing rope 9461; the first pressure sensor 9485 is arranged on the monitoring bracket 9481 and monitors the pressure exerted by the towing rope 9461 on the guide wheel component; the first pressure sensor 9485 is in telecommunication connection with the towing rope winding component.

[0047] Reference Figure 8 , wherein the guide wheel component includes a guide wheel seat 9482 and a monitoring guide wheel 9483 rotatably connected to one end of the guide wheel seat 9482 close to the towing rope 9461; a circular monitoring guide groove for the towing rope 9461 to slide is provided on the outer cylindrical surface of the monitoring guide wheel 9483, and the cross-section of the monitoring guide groove is U-shaped; the first pressure sensor 9485 is fixed on the monitoring bracket 9481 and is located on the side of the guide wheel seat 9482 away from the towing rope 9461; the elastic force is several compression springs 9484; the axial direction of the compression springs 9484 is parallel to the sliding direction of the guide wheel seat 9482; one end of the compression spring 9484 is fixedly connected to the monitoring bracket 9481, and the other end is fixed on the guide wheel seat 9482.

[0048] Under normal conditions, the tensioned towing rope 9461 exerts an external force on the monitoring guide wheel 9483, causing the guide wheel seat 9482 to abut against the first pressure sensor 9485 by overcoming the elastic force of the compression spring 9484. When the material package gripper 96 touches the material package 50 or the material package 50 grasped by the material package gripper 96 is placed in place, the vertical moving inner sleeve 943 will retract upward. At this time, when the towing rope 9461 is out of the tensioned state, the force exerted by the towing rope 9461 on the monitoring guide wheel 9483 becomes smaller, and the elastic force of the compression spring 9484 causes the guide wheel seat 9482 to disengage from the first pressure sensor 9485. In this way, the change in the pressure detected by the first pressure sensor 9485 will send a signal to the winding servo motor 945 to stop working, so that the towing rope 9461 stops unwinding.

[0049] Reference Figures 9 - 11 , the material package gripper 96 includes a gripper bracket 961, a pair of gripper bodies 965 symmetrically arranged relative to the gripper bracket 961, a pair of gripper driving components, and a pair of gravity pressing components 966 symmetrically arranged relative to the gripper bracket 961; the pair of gripper bodies 965 and the gripper driving components are in one-to-one correspondence; the gripper driving component is hinged between the gripper bracket 961 and the corresponding side gripper body 965 and is used to drive the corresponding side gripper body 965 to swing; the pair of gravity pressing components 966 are arranged on the gripper bracket 961 and their distribution direction is perpendicular to the distribution direction of the pair of gripper bodies 965; the pair of gravity pressing components 966 are located between the pair of gripper bodies 965 and within the length range of the gripper bodies 965.

[0050] Reference Figure 9 and Figure 10 Figure 10 , the gravity pressing member 966 includes a vertical slide 9661 fixed to the gripper bracket 961 and a gravity pressing plate 9662; a pair of vertical connecting rods are fixed along the length direction on the upper end surface of the gravity pressing plate 9662; the pair of vertical connecting rods are vertically slidably arranged in the vertical slide 9661; thus, the gravity pressing plate 9662 is movably arranged to be lifted and lowered on the gripper bracket 961. During operation, before the pair of gripper bodies 965 grip the material package 50, the pair of gravity pressing plates 9662 first press against the material package 50. In this way, when the pair of gripper bodies 965 grip the material package 50, the material package 50 is not easily displaced and the gripping is more accurate; when placing the material package 50, the pair of gravity pressing plates 9662 always press against the material package 50. In this way, the loading and placing position of the material package 50 is more accurate, which is beneficial to the subsequent placement of the material package 50.

[0051] Reference Figures 9 - 11 Figures 9 - 11 , the gripper driving member includes a linear gripper driving member and a connecting rod group. The gripper body 965 includes a gripper horizontal support bar 9651 and a plurality of finger claws 9652 distributed along the length direction of the gripper horizontal support bar 9651. Among them, the finger claws 9652 are straight rods, the finger claws 9652 are perpendicular to the gripper horizontal support bar 9651, and the length direction of the gripper horizontal support bar 9651 is parallel to the distribution direction of the pair of gravity pressing members 966. In order to facilitate adjusting the working length of the finger claws 9652 (the length of the part actually contacting the material package 50) to adapt to different scenarios, the end of the finger claw 9652 close to the horizontal support bar 9651 is formed with an external thread and is threaded through and connected to the horizontal support bar 9651. In other embodiments, the horizontal support bar 9651 is divided into two parallel parts along the length direction of the finger claws 9652. The lengths of these two parts are equal to the length of the horizontal support bar 9651. The finger claws 9652 are fixed on the closer part, and the distance between the two parts is adjusted by bolts. In this way, the working length of the finger claws 9652 (the length of the part actually contacting the material package 50) can also be changed. In order to facilitate gripping the material package 50 from the conveyor belt 40, the conveyor belt 40 is a roller conveyor belt, so that the finger claws 9652 can enter the gap between the rollers of the roller conveyor belt.

[0052] Reference Figures 9 - 11, the gripper linear drive member includes a main electric cylinder 962. One end of the main electric cylinder 962 away from its piston rod is hinged on the gripper horizontal support bar 9651, and a connecting end rod 9621 is fixed on the piston rod; the link group includes an L-shaped first link 963 and a second link 964; the first link 963 includes a long arm portion and a short arm portion that are perpendicular to each other; the corner of the first link 963 is hinged on the gripper bracket 961, one end of the long arm portion away from the short arm portion is hinged on the connecting end rod 9621, and one end of the short arm portion away from the long arm portion is hinged on the gripper horizontal support bar 9651; one end of the second link 964 is hinged on the gripper bracket 961, and the other end is hinged on the gripper horizontal support bar 9651; the second link 964 is arranged crosswise with the short arm portion of the first link 963; the hinge axis of the first link 963 and the gripper horizontal support bar 9651 is the first hinge axis 9632, and the hinge axis with the gripper bracket 961 is the second hinge axis 9631; the hinge axis of the second link 964 and the gripper horizontal support bar 9651 is the third hinge axis 9642, and the hinge axis with the gripper bracket 961 is the fourth hinge axis 9641; when a pair of gripper bodies 965 are in the unfolded state, the first hinge axis 9632 and the third hinge axis 9642 are on the same horizontal plane. When a pair of gripper bodies 965 are in the folded state, the first hinge axis 9632 is higher than the third hinge axis 9642; reference Figure 11 , when a pair of gripper bodies 965 change from the unfolded state to the folded state, the movement trajectory of the first hinge axis 9632 is the first movement trajectory 9633, and the movement trajectory of the third hinge axis 9642 is the second movement trajectory 9643. The first hinge axis 9632 is always located above the third hinge axis 9642 and the lifting speed of the first hinge axis 9632 is greater than the lifting speed of the third hinge axis 9642. This makes the working rotation angle of the first link 963 smaller than the swing angle of the gripper body 965. Compared with directly driving the gripper body 965 through the first link 963, a pair of gripper bodies 965 can be folded faster and the grasping speed is faster.

[0053] In other embodiments, for the convenience of adjustment, the connection mode between the connecting end rod 9621 and the piston rod of the main electric cylinder 962 can be a threaded connection. In this way, the position of the connecting end rod 9621 relative to the piston rod of the main electric cylinder 962 is adjustable, which is convenient for a pair of gripper bodies 965 to reach the set state, that is, the gripper body 965 can reach the set limit position.

[0054] Embodiment 2: The difference between Embodiment 2 and Embodiment 1 lies in: reference Figure 12, in order to enable the gripper body 965 to reach the set limit position, the gripper driving component further includes a swing limit position monitoring member, and the gripper linear driving member further includes a fine adjustment cylinder 9622 coaxially arranged with the main cylinder 962. One end of the fine adjustment cylinder 9622 away from its piston rod is hinged on the gripper bracket 961; the main cylinder 962 is fixed on the piston rod of the fine adjustment cylinder 9622; vertical support plates 967 opposite to the gripper horizontal support bars 9651 are respectively fixed on both sides of the gripper bracket 961; the swing limit position monitoring member includes a second pressure sensor 968 fixed on the vertical support plate 967 and a distance sensor fixed on the gripper bracket 961; the second pressure sensor 968 cooperates with the gripper horizontal support bar 9651 to monitor whether the pair of gripper bodies 965 reach the limit position when they are unfolded; the distance sensor cooperates with the long arm portion of the first link 963 to monitor whether the pair of gripper bodies 965 reach the limit position when they are closed; the second pressure sensor and the distance sensor are respectively in telecommunication connection with the fine adjustment cylinder 9622.

[0055] During operation, the main cylinder 962 undertakes the main driving role. However, when the second pressure sensor 968 and the distance sensor monitor that the gripper body 965 does not reach the limit position, the fine adjustment cylinder 9622 makes fine adjustments so that the gripper body 965 can reach the limit position. This can avoid the situation where one of the pair of gripper bodies 965 is overloaded due to misalignment of the pair of gripper bodies 965; if the pair of gripper bodies 965 are in a misaligned state for a long time, the overloaded gripper body 965 will be deformed, affecting the service life of the gripper body 965.

[0056] The above are all preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. A movable automatic loading machine, comprising: a bracket (10); a handling device (30) arranged on the bracket (10) and realizing the loading of material packages (50); a power supply device (70) providing power for the operation of the loading machine; a controller for controlling the operation of the loading machine; characterized in that: the bracket (10) is in the shape of a gantry and four independently operating traveling drive wheel devices (20) are arranged at its bottom; the traveling drive wheel devices (20) include roller brackets (21) rotatable in a horizontal plane at the bottom of the bracket (10), a horizontal plane rotation mechanism for driving the roller brackets (21) to rotate in a horizontal plane, rollers (25) rotatable in a vertical plane, and a vertical plane rotation mechanism for driving the rollers (25); the controller controls the traveling drive wheel devices (20).

2. The mobile automatic loading machine according to claim 1, characterized in that: Magnetic deviation correction and positioning devices (60) are respectively arranged at the two side support bottoms of the bracket (10); the magnetic deviation correction and positioning devices (60) are electrically connected to the controller.

3. The mobile automatic loading machine according to claim 1, characterized in that: The handling device (30) includes a transverse movement frame (80) and at least one handling mechanism (90); the transverse movement frame (80) is arranged at the top of the bracket (10) and straddles the two side supports of the bracket (10); The handling mechanism (90) includes: a transverse movement drive frame (91) horizontally sliding along the length direction of the transverse movement frame (80); a transverse movement drive assembly (93) for driving the transverse movement drive frame (91) to move horizontally; a vertical movement drive frame (94) vertically slidingly arranged on the transverse movement drive frame (91); a vertical movement drive assembly (92) for driving the vertical movement drive frame (94) to vertically lift; a material package gripper (96) arranged at the bottom of the vertical movement drive frame (94) for gripping the material package (50); a horizontal rotation joint (95) connected to the bottom of the vertical movement drive frame (94) for driving the material package gripper (96) to rotate in a horizontal plane.

4. The mobile automatic loading machine according to claim 3, wherein: The vertical movement drive frame (94) includes a vertical movement outer sleeve (941), a vertical movement inner sleeve (943), and an inner sleeve retraction component; the vertical movement outer sleeve (941) is driven by the vertical movement drive assembly (92); the vertical movement inner sleeve (943) vertically expands and contracts along the vertical movement outer sleeve (941) and retracts when subjected to an upward external force; the inner sleeve retraction component includes a traction rope (9461) and a traction rope winding and unwinding member; one end of the traction rope (9461) is connected to the vertical movement inner sleeve (943), and the other end is connected to the traction rope winding and unwinding member; the horizontal rotation joint (95) is connected to the bottom of the vertical movement inner sleeve (943).

5. The movable automatic loading machine according to claim 4, wherein: A tension monitoring component (948) is arranged on the vertical movement inner sleeve (943); the tension monitoring component (948) is used for monitoring the tension of the traction rope (9461); when the tension of the traction rope (9461) is less than a set value, the traction rope winding and unwinding member stops unwinding the traction rope (9461).

6. The movable automatic loading machine according to claim 5, characterized in that: The tension monitoring component (948) includes a monitoring bracket (9481), a guide wheel component slidably arranged on the monitoring bracket (9481), an elastic component, and a first pressure sensor (9485); the sliding direction of the guide wheel component is perpendicular to the direction of the traction rope (9461) in the tension state; the elastic component applies an elastic force to the guide wheel component towards the traction rope (9461); the first pressure sensor (9485) is arranged on the monitoring bracket (9481) and monitors the pressure applied by the traction rope (9461) to the guide wheel component; the first pressure sensor (9485) is in telecommunication connection with the traction rope winding and unwinding component.

7. The mobile automatic loading machine according to claim 3, wherein: The material package gripper (96) includes a gripper bracket (961), a pair of gripper bodies (965) symmetrically arranged relative to the gripper bracket (961), a pair of gripper driving components, and a pair of gravity pressing components (966) symmetrically arranged relative to the gripper bracket (961); the pair of gripper bodies (965) and the gripper driving components are in one-to-one correspondence; the gripper driving components are hinged between the gripper bracket (961) and the corresponding side of the gripper body (965) and are used to drive the corresponding side of the gripper body (965) to swing; the pair of gravity pressing components (966) are arranged on the gripper bracket (961) and their distribution direction is perpendicular to the distribution direction of the pair of gripper bodies (965); the gravity pressing component (966) includes a gravity pressing plate (9662); the gravity pressing plate (9662) is movably arranged to lift and lower on the gripper bracket (961).

8. The mobile automatic loading machine according to claim 7, characterized in that: The gripper driving component includes a gripper linear driving member, a connecting rod group, and a swing extreme position monitoring member; the gripper linear driving member drives the corresponding side of the gripper body (965) to swing through the connecting rod group; the swing extreme position monitoring member is used to monitor the extreme position during the swinging process of the gripper body (965); the gripper linear driving member includes a main electric cylinder (962) and a fine-tuning electric cylinder (9622) arranged coaxially and telescopically; the main electric cylinder (962) is used to realize the telescopic stroke of the gripper linear driving member; the fine-tuning electric cylinder (9622) is in telecommunication connection with the swing extreme position monitoring member to realize the swinging of the gripper body (965) in place.

9. The mobile automatic loading machine according to claim 7, characterized in that: The gripper body (965) includes a plurality of claw fingers (9652) distributed in a parallel direction along the distribution direction of the pair of gravity pressing components (966); the claw fingers (9652) are straight rods.

10. The mobile automatic loading machine according to claim 1, characterized in that: At least one conveyor belt (40) is arranged on the bracket (10); the conveyor belt (40) conveys the material package (50) to the handling device (30) to complete the loading of the vehicle.

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