A movable automatic loading machine

Abstract

The present invention discloses a movable automatic loader, comprising: a support; a handling device mounted on the support and configured to transport material packaging; a power supply device configured to provide power for the loader; and a controller configured to control the loader's operation. The support is gantry-shaped and has four independently operable driving wheel devices disposed at its bottom. The driving wheel devices comprise a roller bracket that rotates horizontally at the bottom of the support, a horizontal rotation mechanism for driving the roller bracket, a roller that rotates vertically, and a vertical rotation mechanism for driving the roller. The controller controls the driving wheel devices. The present invention facilitates the overall movement of the loader and offers high flexibility.

Description

Technical Field

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

[0002] During transportation, granular materials are often bagged and packaged before being loaded onto trucks for shipment. To save manpower, mechanized loading equipment is currently used for loading. Typically, loading equipment is fixed in one location, and then the transport vehicle drives to this loading location for loading. When the loading location changes, the loading equipment needs to be disassembled and reinstalled at the new location, making the entire process cumbersome, time-consuming, and labor-intensive. Summary of the Invention

[0003] In order to overcome the deficiencies in the prior art, the present invention provides a movable automatic loader having the advantage of high mobility and flexibility.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A movable automatic loading machine, comprising:

[0006] Bracket;

[0007] a handling device, which is arranged on the bracket and realizes a material packaging vehicle;

[0008] Power supply device, providing power for the operation of the loader;

[0009] Controller, used to control the operation of the loader;

[0010] The bracket is in the shape of a gantry and has four independently operated traveling drive wheel devices at its bottom; the traveling drive wheel device includes a roller bracket rotating horizontally at the bottom of the bracket, a horizontal rotation mechanism for driving the roller bracket, a roller rotating vertically and a vertical rotation mechanism for driving the roller; the controller controls the traveling drive wheel device.

[0011] By adopting the above technical solution, the four horizontal rotation mechanisms drive the respective roller brackets and rollers to rotate on the horizontal plane, so that the loader can change direction and turn. The four vertical rotation mechanisms drive the rollers to rotate on the vertical plane, so that the loader can move forward or backward as a whole. The controller can plan the forward route by controlling the driving wheel device of the crane, which facilitates the overall movement of the loader and has high flexibility. At the same time, during the loading process, the discharge position of the handling device is moved along the truck, which speeds up the loading efficiency.

[0012] Optionally, magnetic deviation correction and positioning devices are respectively provided on the supporting bottoms on both sides of the bracket; and the magnetic deviation correction and positioning devices are electrically connected to the controller.

[0013] By adopting the above technical solution, the presence of the magnetic correction and positioning device can make the loader's moving position more accurate.

[0014] Optionally, the transport device includes a transverse frame and at least one transport mechanism; the transverse frame is arranged on the top of the bracket and supports across both sides of the bracket; the transport mechanism includes:

[0015] A transverse driving frame slides horizontally along the length direction of the transverse frame;

[0016] A transverse drive assembly, used for driving the transverse drive frame to move horizontally;

[0017] A vertical driving frame, vertically slidingly arranged on the transverse driving frame;

[0018] A vertical drive assembly, used for driving the vertical drive frame to vertically move up and down;

[0019] A material bag gripper, provided at the bottom of the vertical drive frame, for grabbing the material bag;

[0020] The horizontal rotation joint is connected to the bottom of the vertical driving frame and is used to drive the material bag gripper to rotate on a horizontal plane.

[0021] By adopting the above technical solution, when loading, the material bag gripper grabs the material bag, and with the help of the horizontal rotation joint can adapt to the different grabbing states and placement states of the material bag, and then with the help of the transverse drive component and the transverse drive frame, the material bag gripper and the grabbed material bag can be moved horizontally along the truck to the appropriate position, and then with the help of the vertical drive component and the vertical drive frame, the material bag is transported to the correct loading position, and then the material bag gripper releases the material bag. In this way, according to the above working principle, combined with the mobility of the loader, the loading of the entire truck can be completed, and the loading efficiency is high.

[0022] Optionally, the vertical movement drive 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 a vertical movement drive assembly; the vertical movement inner sleeve vertically extends 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 component; 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 component; the horizontal rotation joint is connected to the bottom of the vertical movement inner sleeve.

[0023] By adopting the above technical solution, when the material bag gripper is raised or lowered, the vertical driving assembly first drives the vertical outer sleeve and the vertical inner sleeve to move up and down. When it is close to the grabbing position or the placement position, the traction rope winding and releasing component unwinds the traction rope, and the vertical inner sleeve approaches and descends due to its own weight until the material bag gripper contacts the material bag or the material bag reaches a suitable loading location. During this process, the inner sleeve retracts when it is subjected to an upward external force, and the material bag and the truck, the material bag gripper and the material bag will not collide or contact, thereby avoiding collision damage to the three.

[0024] Optionally, a tension monitoring component is provided on the vertically movable 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 a set value, the traction rope winding and unwinding component stops unwinding the traction rope.

[0025] By adopting the above technical solution, when the tension monitoring component detects that the tension of the traction rope is less than the set value, the traction rope winding and unwinding component stops unwinding the traction rope, thereby avoiding excessive unwinding of the traction rope, reducing the subsequent rewinding time of the traction rope, improving the handling efficiency, and reducing the possibility of the traction rope being accidentally hooked.

[0026] Optionally, the tensioning force monitoring component includes a monitoring bracket, a guide wheel member slidingly arranged on the monitoring bracket, an elastic member and a first pressure sensor; the sliding direction of the guide wheel member is perpendicular to the direction of the traction rope in the tensioned state; the elastic member applies an elastic force toward the traction rope to the guide wheel member; the first pressure sensor is arranged on the monitoring bracket and monitors the pressure applied by the traction rope to the guide wheel member; the first pressure sensor is electrically connected to the traction rope winding and unwinding member.

[0027] By adopting the above technical solution, the traction rope in the tensioned state will overcome the elastic force of the elastic member so that the guide wheel member will press against the first pressure sensor. When the traction rope is out of the tensioned state, the guide wheel member will be separated from the first pressure sensor under the action of the elastic member, so that the pressure detected by the first pressure sensor changes, thereby sending a signal to the traction rope winding and unwinding member to stop running, thereby stopping the traction rope unwinding in time.

[0028] Optionally, the material bag 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 downward pressure components symmetrically arranged relative to the gripper bracket; the pair of gripper bodies and the gripper driving components correspond one to one; the gripper driving component is hinged between the gripper bracket and the gripper body on the corresponding side and is used to drive the gripper body on the corresponding side to swing; a pair of gravity downward pressure components are arranged on the gripper bracket and their distribution direction is perpendicular to the distribution direction of the pair of gripper bodies; the gravity downward pressure component includes a gravity pressure plate; the gravity pressure plate is movably raised and lowered on the gripper bracket.

[0029] By adopting the above technical solution, before a pair of gripper bodies grab the material bag, a pair of gravity pressure plates are first pressed against the material bag. In this way, when the pair of gripper bodies grab the material bag, the material bag is not easy to shift and the grabbing is more accurate; when placing the material bag, the pair of gravity pressure plates are always pressed against the material bag. In this way, the placement position of the material packaging vehicle is more accurate, which is conducive to the placement of subsequent material bags.

[0030] Optionally, the gripper drive component includes a gripper linear drive component, a connecting rod group and a swing limit position monitoring component; the gripper linear drive component drives the gripper body on the corresponding side to swing through the connecting rod group; the swing limit position monitoring component is used to monitor the limit position of the gripper body during the swinging process; the gripper linear drive component includes a main electric cylinder and a fine-tuning electric cylinder arranged coaxially telescopically; the main electric cylinder is used to realize the telescopic stroke of the gripper linear drive component; the fine-tuning electric cylinder is electrically connected to the swing limit position monitoring component to realize the swinging of the gripper body into position.

[0031] By adopting the above technical solution, when the gripper body cannot reach the set limit position, the two gripper bodies will be misaligned, and one gripper body will be subjected to excessive force. If it remains in this state for a long time, the gripper body subjected to excessive force will be deformed, affecting the service life of the gripper body. Therefore, by monitoring the limit position of the gripper body during the swinging process through the swing limit position monitoring component, and then fine-tuning the electric cylinder according to the monitoring situation, the possibility of the above situation occurring can be reduced and the service life of the gripper body can be increased.

[0032] Optionally, the gripper body includes a plurality of claw fingers distributed in a direction parallel to the distribution direction of the pair of gravity-pressing components; the claw fingers are straight rods.

[0033] By adopting the above technical solution, the claws of the straight rod are not likely to scratch the material bag, thereby improving the quality of handling.

[0034] Optionally, at least one conveyor belt is provided on the bracket; the conveyor belt conveys the material package to the handling device to complete the loading.

[0035] By adopting the above technical solution, the loader has its own conveyor belt, which can transport the material bags to the handling device, avoiding the situation of taking out the material bags from the outside through the overall movement of the loader, greatly reducing the moving path of the loader, and helping to improve the loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural diagram of embodiment 1 of the present invention.

[0037] Figure 2 The present invention Figure 1 Schematic diagram of the partially enlarged structure of A in the middle.

[0038] Figure 3 It is a structural schematic diagram of the transport device and conveyor belt of Example 1 of the present invention.

[0039] Figure 4 It is a structural schematic diagram of the transport mechanism and the transverse moving frame of the first embodiment of the present invention.

[0040] Figure 5 It is a schematic structural diagram of a cross section of the vertical driving frame according to the first embodiment of the present invention.

[0041] Figure 6 It is a schematic structural diagram of a cross section of the vertical driving frame according to the first embodiment of the present invention.

[0042] Figure 7 The present invention Figure 6 Schematic diagram of the partially enlarged structure of B.

[0043] Figure 8 The present invention Figure 6 Schematic diagram of the partially enlarged structure of C in the middle.

[0044] Figure 9 It is a structural schematic diagram of the material bag gripper of the first embodiment of the present invention.

[0045] Figure 10 It is a front view structural schematic diagram of the material bag gripper of the first embodiment of the present invention.

[0046] Figure 11 The present invention Figure 10 Schematic diagram of the partially enlarged structure.

[0047] Figure 12 It is a front view structural diagram of the material bag gripper of the second embodiment of the present invention.

[0048] Description of reference numerals:

[0049] 10. Bracket; 11. Support side frame; 12. Upper connecting frame; 13. Maintenance ladder;

[0050] 20. Driving wheel assembly; 21. Roller bracket; 22. Horizontal driven gear; 23. Horizontal drive servo motor; 24. Horizontal driving gear; 25. Roller; 26. Vertical drive servo motor;

[0051] 30. Handling device;

[0052] 40. Conveyor belt;

[0053] 50. Material package;

[0054] 60. Magnetic deviation correction and positioning device;

[0055] 70. Power supply device;

[0056] 80. Transverse rack;

[0057] 90. Transport mechanism; 91. Transverse drive frame; 92. Vertical drive assembly; 93. Transverse drive assembly; 94. Vertical drive frame; 941. Vertical outer sleeve; 942. Vertical guide wheel; 943. Vertical inner sleeve; 944. Sliding limit strip; 945. Winding servo motor; 946. Traction rope reel; 9461. Traction rope; 947. Intermediate guide pulley; 948. Tension monitoring component; 9481. Monitoring bracket; 9482. Guide wheel seat; 9483. Monitoring guide Wheel; 9484, compression spring; 9485, first pressure sensor; 95, horizontal rotation joint; 96, material bag gripper; 961, gripper bracket; 962, main electric cylinder; 9621, connecting end rod; 9622, fine-tuning electric cylinder; 963, first connecting rod; 9631, second articulated axis; 9632, first articulated axis; 9633, first moving track; 964, second connecting rod; 9641, fourth articulated axis; 9642, third articulated axis; 9643, second moving track;

[0058] 965. Gripper body; 9651. Gripper horizontal support bar; 9652. Claw finger; 966. Gravity downward pressure component; 9661. Vertical slide; 9662. Gravity pressure plate; 967. Vertical support plate; 968. Second pressure sensor. DETAILED DESCRIPTION

[0059] The following is combined with Figures 1-12 The present invention is described in further detail.

[0060] Example 1: A movable automatic loading machine is disclosed, referring to Figure 1, including a bracket 10, a handling device 30, a power supply device 70, a pair of conveyor belts 40, four independently operated driving 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 supporting side frames 11 and a pair of parallel upper connecting frames 12, the supporting side frames 11 are in the shape of a rectangular frame, the pair of upper connecting frames 12 are horizontally distributed and fixed between the tops of the pair of supporting side frames 11; wherein the bottom of the supporting side frames 11 are fixed with two driving wheel devices 20 along their length direction, and the four driving wheel devices 20 are rectangularly distributed; the controller is fixed on one of the supporting side frames 11 and is used to control the operation of the loader; the power supply device 70 is fixed on one of the supporting side frames 11 and provides power for the operation of the loader; a pair of conveyor belts 40 are respectively fixed on a pair of supporting side frames 11 and are used to transport material bags 50 from the outside to the handling device 30; the handling device 30 is arranged between the pair of supporting side frames 11 and realizes the loading of the material bags 50. During operation, the truck reverses between the pair of supporting side frames 11. A pair of conveyor belts 40 then deliver material bags 50 from the outside to the handling device 30. The handling device 30 then transfers the material bags 50 to the truck. During this process, the loader moves along the truck using its four travel drive wheel assemblies 20. To facilitate subsequent repairs and maintenance, a maintenance ladder 13 is installed on one of the supporting side frames 11.

[0061] refer to Figure 2 The driving wheel device 20 includes a roller bracket 21 that rotates horizontally at the bottom of the supporting side frame 11, a horizontal rotation mechanism for driving the roller bracket 21, a roller 25 that rotates vertically, and a vertical rotation mechanism for driving the roller 25; the horizontal rotation mechanism includes a horizontal driving servo motor 23 fixed on the supporting side frame 11, a horizontal driving gear 24 coaxially fixed on the output shaft of the horizontal driving servo motor 23, and a horizontal driven gear 22 coaxially fixed on the rotating shaft of the roller bracket 21; the horizontal driven gear 22 and the horizontal driving gear 24 are engaged with each other; the vertical rotation mechanism includes a vertical driving servo motor 26 fixed on the roller 25; the roller 25 is coaxially fixed on the output shaft of the vertical driving servo motor 26; the controller controls the vertical driving servo motor 26 and the horizontal driving servo motor 23. During operation, the horizontal plane drive servo motor 23 is started to drive the roller 25 to rotate on the horizontal plane, so that the loader can change direction and turn. The vertical plane drive servo motor 26 drives the roller 25 to rotate on the vertical plane, so that the loader 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 loader and has high flexibility.

[0062] refer to Figure 3The transport device 30 includes a transverse frame 80 and four transport mechanisms 90; the transverse frame 80 is fixed between the supporting side frames 11, and the four transport mechanisms 90 are arranged on the transverse frame 80 and are divided into two groups to correspond to a pair of conveyor belts 40 respectively, so that the transport efficiency is high; of course, there can be only one transport mechanism 90, and the conveyor belt 40 on the corresponding side is also reduced to one. Of course, the transport efficiency of this solution is not as good as the effect of four transport mechanisms 90 combined with a pair of conveyor belts 40.

[0063] refer to Figure 4 The handling device 30 includes a transverse frame 80 and at least one handling mechanism 90; the transverse frame 80 is arranged on the top of the bracket 10 and supports both sides of the bracket 10; the handling mechanism 90 includes a transverse driving frame 91, a transverse driving assembly 93, a vertical driving frame 94, a vertical driving assembly 92, a material bag gripper 96 and a horizontal rotation joint 95; the transverse driving frame 91 slides horizontally along the length direction of the transverse frame 80 through a pair of horizontal linear guide rails distributed up and down; the transverse driving assembly 93 drives the transverse driving frame 91 to move horizontally; the vertical driving frame 94 slides vertically on the transverse driving frame 91 through a pair of horizontally distributed vertical linear guide rails; the vertical driving assembly 92 drives the vertical driving frame 94 to rise and fall vertically; the horizontal rotation joint 95 is connected to the bottom of the vertical driving frame 94 and is used to drive the material bag gripper 96 to rotate on the horizontal plane; the material bag gripper 96 is used to grab the material bag 50.

[0064] refer to Figure 4 The transverse drive assembly 93 and the vertical drive assembly 92 can be a combination of a servo motor and a rack and pinion transmission mechanism, and of course an electric slide can also be used.

[0065] refer to Figure 5 and Figure 6The 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 extends 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 component; 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 component; the horizontal rotation joint 95 is connected to the bottom of the vertical movement inner sleeve 943. In order to ensure the accuracy of the sliding direction between the vertical inner sleeve 943 and the vertical outer sleeve 941, a pair of vertically arranged cylindrical sliding limit strips 944 are welded on a pair of opposite vertical end faces of the vertical inner sleeve 943, and two upper and lower sliding limit groups are fixed on a pair of opposite vertical end faces of the vertical outer sleeve 941; the sliding limit group includes a pair of horizontally arranged vertical guide wheels 942; an annular guide groove in the shape of a circular ring 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.

[0066] refer to Figure 6-Figure 8 The traction rope reeling and unwinding device includes a traction drive frame fixed to the upper end of the outer wall of the vertically movable outer sleeve 941, a traction rope reel 946 rotatably connected to the traction drive frame, and a reeling servo motor 945 fixed to the traction drive frame and coaxially fixedly connected to the traction rope reel 946. One end of the traction rope 9461 is wound around the traction rope reel 946. To facilitate the guidance of the traction rope 9461, an intermediate guide pulley 947 is provided at the top of the vertically movable outer sleeve 941. After one end of the traction rope 9461 exits the traction rope reel 946, it passes through the intermediate guide pulley 947 and is fixed to the bottom side wall of the vertically movable inner sleeve 943. Of course, to prevent the traction rope 9461 from accidentally detaching, a number of vertically distributed rope loops can be provided on the outer wall of the vertically movable outer sleeve 941 for the traction rope 9461 to pass through.

[0067] refer to 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 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 component stops unwinding the traction rope 9461.

[0068] refer to Figure 8The tension monitoring component 948 includes a monitoring bracket 9481, a guide wheel member slidingly arranged on the monitoring bracket 9481, an elastic member and a first pressure sensor 9485; the sliding direction of the guide wheel member is perpendicular to the direction of the traction rope 9461 in the tensioned state; the elastic member applies an elastic force to the guide wheel member toward the traction rope 9461; the first pressure sensor 9485 is arranged on the monitoring bracket 9481 and monitors the pressure applied to the guide wheel member by the traction rope 9461; the first pressure sensor 9485 is electrically connected to the traction rope winding and unwinding member.

[0069] refer to 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 traction rope 9461; the outer cylindrical surface of the monitoring guide wheel 9483 has a circular monitoring guide groove for the traction rope 9461 to slide, 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 traction rope 9461; the elastic force is a plurality of compression springs 9484; the axial direction of the compression spring 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 to the guide wheel seat 9482.

[0070] Under normal conditions, the tensioned traction rope 9461 applies an external force to the monitoring guide wheel 9483, causing the guide wheel seat 9482 to overcome the elastic force of the compression spring 9484 and press against the first pressure sensor 9485. When the material bag gripper 96 hits the material bag 50 or the material bag 50 grasped by the material bag gripper 96 is placed in place, the vertical inner sleeve 943 will retract upward. At this time, when the traction rope 9461 is out of the tensioned state, the force applied by the traction rope 9461 to the monitoring guide wheel 9483 becomes smaller, and the elastic force of the compression spring 9484 causes the guide wheel seat 9482 to separate from the first pressure sensor 9485. In this way, the pressure change detected by the first pressure sensor 9485 will give a signal to the winding servo motor 945 to stop working, so that the traction rope 9461 stops unwinding.

[0071] refer to Figures 9-11 The material bag 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 downward pressure components 966 symmetrically arranged relative to the gripper bracket 961; the pair of gripper bodies 965 and the gripper driving components correspond one to one; the gripper driving component is hinged between the gripper bracket 961 and the gripper body 965 on the corresponding side and is used to drive the gripper body 965 on the corresponding side to swing; the pair of gravity downward pressure 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 downward pressure components 966 are located between the pair of gripper bodies 965 and are within the length range of the gripper body 965.

[0072] refer to Figure 9 and Figure 10 The gravity-pressing component 966 includes a vertical slide 9661 and a gravity pressure plate 9662 fixed to the gripper bracket 961. A pair of vertical connecting rods are fixed to the upper end surface of the gravity pressure plate 9662 along its length. The pair of vertical connecting rods slide vertically on the vertical slide 9661. The gravity pressure plate 9662 is thus movable and retractable on the gripper bracket 961. During operation, before the pair of gripper bodies 965 grab the material bag 50, the pair of gravity pressure plates 9662 first press against the material bag 50. This prevents the material bag 50 from shifting when the pair of gripper bodies 965 grab the material bag 50, allowing for more accurate grabbing. When placing the material bag 50, the pair of gravity pressure plates 9662 always press against the material bag 50, ensuring more accurate placement of the material bag 50 when loading it onto the vehicle, facilitating subsequent placement of the material bag 50.

[0073] refer to Figures 9-11 The gripper drive assembly includes a linear actuator and a connecting rod assembly. The gripper body 965 comprises a horizontal support bar 9651 and several claw fingers 9652 distributed along the length of the horizontal support bar 9651. The claw fingers 9652 are straight rods perpendicular to the horizontal support bar 9651, and the length of the horizontal support bar 9651 is parallel to the distribution direction of the pair of gravity-loaded components 966. To facilitate adjustment of the working length of the claw fingers 9652 (the length of the portion that actually contacts the material bag 50) to suit different scenarios, the claw fingers 9652 are formed with external threads on the end closest to the horizontal support bar 9651, extending through and threadedly connected to the horizontal support bar 9651. In other embodiments, the horizontal support bar 9651 is divided into two parallel sections along the length of the claw finger 9652. The length of these two sections is equal to the length of the horizontal support bar 9651. The claw finger 9652 is fixed to a proximal section, and the spacing between the two sections is adjusted by bolts. This also changes the working length of the claw finger 9652 (the length of the portion that actually contacts the material bag 50). To facilitate grabbing the material bag 50 from the conveyor belt 40, the conveyor belt 40 is a roller conveyor belt, so that the claw finger 9652 can enter the gap between the rollers of the roller conveyor belt.

[0074] refer to Figures 9-11The gripper linear drive component includes a main electric cylinder 962, the end of the main electric cylinder 962 away from its piston rod is hinged to the gripper horizontal support bar 9651, and a connecting end rod 9621 is fixed to the piston rod; the connecting rod group includes an L-shaped first connecting rod 963 and a second connecting rod 964; the first connecting rod 963 includes a long arm part and a short arm part that are perpendicular to each other; the corner of the first connecting rod 963 is hinged to the gripper bracket 961, the end of the long arm part away from the short arm part is hinged to the connecting end rod 9621, and the end of the short arm part away from the long arm part is hinged to the gripper horizontal support bar 9651; one end of the second connecting rod 964 is hinged to the gripper bracket 961, and the other end is hinged to the gripper horizontal support bar 9651; The second link 964 is cross-arranged with the short arm of the first link 963; the hinge axis between the first link 963 and the horizontal support bar 9651 of the gripper is the first hinge axis 9632, and the hinge axis between the first link 963 and the gripper bracket 961 is the second hinge axis 9631; the hinge axis between the second link 964 and the horizontal support bar 9651 of the gripper is the third hinge axis 9642, and the hinge axis between the second link 964 and the gripper bracket 961 is the fourth hinge axis 9641; when the pair of gripper bodies 965 are in the unfolded state, the first hinge axis 9632 and the third hinge axis 9642 are in the same horizontal plane, and when the pair of gripper bodies 965 are in the folded state, the first hinge axis 9632 is higher than the third hinge axis 9642; refer to Figure 11 When a pair of gripper bodies 965 change from an expanded state to a folded state, the moving trajectory of the first hinge shaft 9632 is a first moving trajectory 9633, and the moving trajectory of the third hinge shaft 9642 is a second moving trajectory 9643. The first hinge shaft 9632 is always located on the upper side of the third hinge shaft 9642 and the lifting speed of the first hinge shaft 9632 is greater than the lifting speed of the third hinge shaft 9642. In this way, the working angle of the first connecting rod 963 is smaller than the swing angle of the gripper body 965. In this way, compared with directly driving the gripper body 965 through the first connecting rod 963, the pair of gripper bodies 965 are folded faster and the gripping speed is faster.

[0075] In other embodiments, in order to facilitate adjustment, the connection between the connecting end rod 9621 and the piston rod of the main electric cylinder 962 can be a threaded connection, so that the position of the connecting end rod 9621 relative to the piston rod of the main electric cylinder 962 is adjustable, so that a pair of gripper bodies 965 can reach the set state, that is, the gripper body 965 can reach the set extreme position.

[0076] Example 2: The difference between Example 2 and Example 1 is: Figure 12In order to make the gripper body 965 reach the set limit position, the gripper drive component also includes a swing limit position monitoring component, and the gripper linear drive component also includes a fine-tuning electric cylinder 9622 coaxially arranged with the main electric cylinder 962, and the end of the fine-tuning electric cylinder 9622 away from its piston rod is hinged to the gripper bracket 961; the main electric cylinder 962 is fixed on the piston rod of the fine-tuning electric cylinder 9622; vertical support plates 967 opposite to the gripper horizontal support bar 9651 are respectively fixed on both sides of the gripper bracket 961; the swing limit position monitoring component The control 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 a 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 connecting rod 963 to monitor whether a pair of gripper bodies 965 reach the limit position when they are retracted; the second pressure sensor and the distance sensor are respectively connected to the fine-tuning electric cylinder 9622 by telecommunication.

[0077] During operation, the main electric cylinder 962 provides the primary driving force. However, when the second pressure sensor 968 and the spacing sensor detect that the gripper body 965 has not reached its limit position, the fine-tuning electric cylinder 9622 performs fine adjustments to bring the gripper body 965 back to its limit position. This prevents misalignment of the pair of gripper bodies 965, which could cause excessive stress on one of the gripper bodies 965. If the pair of gripper bodies 965 remain misaligned for a long time, the gripper body 965, which is subjected to excessive stress, could deform, shortening its service life.

[0078] The above are all preferred embodiments of the present invention, and are not intended to limit the scope of protection of the present invention. Therefore, any equivalent changes made based on the structure, shape, and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A movable automatic loading machine, comprising: Bracket (10); A transport device (30) is arranged on the support (10) and enables the material package (50) to be loaded onto a vehicle; A power supply device (70) provides power for the operation of the loader; Controller, used to control the operation of the loader; The invention is characterized in that: the support (10) is gantry-shaped and has four independently operated traveling drive wheel devices (20) arranged at the bottom thereof; the traveling drive wheel device (20) comprises a roller support (21) rotating horizontally at the bottom of the support (10), a horizontal rotation mechanism for driving the roller support (21), a roller (25) rotating vertically, and a vertical rotation mechanism for driving the roller (25); the controller controls the traveling drive wheel device (20); The handling device (30) includes a material bag gripper (96) for grabbing a material bag (50), the material bag gripper (96) including a gripper bracket (961), a pair of gripper bodies (965) symmetrically arranged relative to the gripper bracket (961), and a pair of gripper driving components; the gripper driving components are hinged between the gripper bracket (961) and the gripper body (965) on the corresponding side and are used to drive the gripper body (965) on the corresponding side to swing; the gripper driving components include a gripper linear driving component and a swing limit position monitoring component; the swing limit position monitoring component is used to monitor The gripper body (965) is at its limit position during the swinging process; the gripper linear drive component comprises a main electric cylinder (962) and a fine-tuning electric cylinder (9622) which are coaxially telescopically arranged; the main electric cylinder (962) is used to realize the telescopic stroke of the gripper linear drive component; the fine-tuning electric cylinder (9622) is electrically connected to the swing limit position monitoring component to realize the swinging of the gripper body (965) into position; the end of the fine-tuning electric cylinder (9622) away from its piston rod is hinged to the gripper bracket (961); the main electric cylinder (962) is fixed to the piston rod of the fine-tuning electric cylinder (9622).

2. The movable automatic loading machine according to claim 1, characterized in that: The supporting bottoms on both sides of the bracket (10) are respectively provided with magnetic deviation correction and positioning devices (60); the magnetic deviation correction and positioning devices (60) are electrically connected to the controller.

3. The movable automatic loading machine according to claim 1, characterized in that: The transport device (30) comprises a transverse frame (80) and at least one transport mechanism (90); the transverse frame (80) is arranged on the top of the bracket (10) and supports both sides of the bracket (10); The transport mechanism (90) further includes: A transverse driving frame (91) slides horizontally along the length direction of the transverse frame (80); A transverse drive assembly (93) for driving the transverse drive frame (91) to move horizontally; A vertical drive frame (94) is vertically slidably arranged on the transverse drive frame (91), and the material bag gripper (96) is arranged at the bottom of the vertical drive frame (94); A vertical drive assembly (92) for driving the vertical drive frame (94) to vertically move up and down; The horizontal rotation joint (95) is connected to the bottom of the vertical drive frame (94) and is used to drive the material bag gripper (96) to rotate on a horizontal plane.

4. The movable automatic loading machine according to claim 3, characterized in that: 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 reeling component; 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 reeling component; 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, characterized in that: The vertically movable inner sleeve (943) is provided with a tension monitoring component (948); 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 a set value, the traction rope reeling component stops reeling 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 member slidingly arranged on the monitoring bracket (9481), an elastic member and a first pressure sensor (9485); the sliding direction of the guide wheel member is perpendicular to the direction of the traction rope (9461) in the tensioned state; the elastic member applies an elastic force to the guide wheel member toward 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 member; the first pressure sensor (9485) is electrically connected to the traction rope winding and unwinding member.

7. The movable automatic loading machine according to claim 3, characterized in that: The material bag gripper (96) further comprises 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 correspond one to one; 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 components (966) comprise a gravity pressure plate (9662); the gravity pressure plate (9662) is movably raised and lowered and arranged on the gripper bracket (961).

8. The movable automatic loading machine according to claim 7, characterized in that: The gripper driving component further comprises a connecting rod group; the gripper linear driving member drives the gripper body (965) on the corresponding side to swing via the connecting rod group.

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

10. The movable automatic loading machine according to claim 1, characterized in that: At least one conveyor belt (40) is provided on the bracket (10); the conveyor belt (40) conveys the material bag (50) to the transport device (30) to complete the loading.

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