Loading robot

Abstract

The invention relates to the technical field of loading of transport vehicles, in particular to a loading robot. Truck loading treatment of multiple bags of bagged cargos is achieved at a time, mutual stacking of the bagged cargos is achieved, the truck loading efficiency is improved, and meanwhile the stacking stability of the bagged cargos is guaranteed. Comprising a ground rail and a stacking mechanism installed on the ground rail, and the stacking mechanism comprises a three-dimensional driver and a single-row stacking type stacker installed on the three-dimensional driver; the single-row stacking type material stacking device comprises a cross beam, a distance adjusting mechanism installed at the bottom of the cross beam and a plurality of first inclined type material grabbing devices installed on the distance adjusting mechanism, and the first inclined type material grabbing devices allow bagged goods to slide off in an inclined mode for discharging. When the bagged goods slide and are discharged at the same inclination angle, the falling point height of the bagged goods close to the two side end parts of the cross beam is gradually lower than that of the bagged goods close to the middle part of the cross beam, or the inclination angle of the bagged goods when falling at the same height is gradually reduced from the two sides of the cross beam to the middle part of the cross beam.

Description

Technical Field

[0001] The present invention relates to the technical field of loading cargo on transport vehicles, and in particular to a loading robot. Background Art

[0002] As we all know, loading robots are widely used in logistics, grain processing, feed production, chemical industry and other industries. They can independently complete the tasks of grabbing, moving and loading goods, greatly improving loading efficiency and reducing labor costs.

[0003] For example, patent application CN116281256B discloses a continuous automatic loading system for bagged items. The system includes a vibrating and leveling conveyor and a loading robot. The robot is mounted on a floor rail and can move linearly along the rail. The robot includes a base with a reducer connected to the base. Its overall structure is optimized and improved, improving loading efficiency.

[0004] However, the above device still has the following defects: it uses a loading robot to stack multiple bags of bagged goods neatly side by side on the trailer at a time, but the bagged goods on the edges of the trailer and the bagged goods inside the trailer cannot constrain each other. During transportation, due to road bumps, the bagged goods on the edges of the trailer are prone to slipping, causing the stacked goods to collapse; and using a single stacking robot to load a single belt of bagged goods at a time, although mutual stacking constraints between the bagged goods can be achieved and the stability of the stacked goods can be improved, the loading efficiency is low. How to improve the stacking stability of the bagged goods while improving the loading efficiency has become an urgent problem to be solved. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the present invention provides a loading robot that can load multiple bags of bagged goods at a time and stack the bagged goods on each other, thereby improving the loading efficiency and ensuring the stability of the bagged goods stacking.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a loading robot comprising a ground rail and a stacking mechanism installed on the ground rail, the stacking mechanism comprising a three-dimensional driver and a single-row stacking stacker installed on the three-dimensional driver, the three-dimensional driver can drive the single-row stacking stacker to move in three-dimensional space; the single-row stacking stacker comprises a crossbeam, a distance adjusting mechanism installed at the bottom of the crossbeam, and a plurality of first oblique grabbers installed on the distance adjusting mechanism, the distance adjusting mechanism is used to adjust the distance between two adjacent first oblique grabbers, the first oblique grabbers on both sides of the bottom of the crossbeam are arranged in a mirror image with the middle of the crossbeam as the mid-vertical plane, the first oblique grabbers allow bagged goods to slide down and discharge in an oblique shape, and when the bagged goods slide down and discharge at the same inclination angle, the landing height of the bagged goods near the ends of the two sides of the crossbeam is gradually lower than the landing height of the bagged goods near the middle of the crossbeam. Alternatively, the inclination angle of the bagged goods when falling at the same height gradually decreases from the two sides of the beam to the middle of the beam; further, the distance adjusting mechanism may adopt a screw-type distance adjuster, or other equivalent parts with a distance adjustment function; the landing height of the bagged goods gradually increases from the two sides of the beam to the middle of the beam; it should be noted that sufficient falling height should be left between the bagged goods and the trailer; when the bagged goods are dropped at the same inclination angle, the height difference between each bagged goods can be appropriately adjusted to ensure that there is sufficient overlapping amount between the bagged goods in the stacked state on the trailer; when the bagged goods are dropped at the same height, the difference in the inclination angle of each bagged goods can be appropriately adjusted to ensure that there is sufficient overlapping amount between the bagged goods in the stacked state on the trailer; it is also possible to adopt an adjustment method combining the landing height and the inclination angle of the bagged goods according to demand to achieve adaptive adjustment of the overlapping amount between the bagged goods.

[0007] Preferably, the first oblique grabber includes a seat frame, a hinge shaft rotatably mounted on the seat frame, an L-shaped support frame fixedly mounted on the hinge shaft, and an elastic limiter, wherein the elastic limiter includes a rotating seat hingedly mounted on the seat frame, a connecting rod slidably mounted on the rotating seat, and a spring sleeved on the connecting rod, a first driving handle fixedly mounted on the hinge shaft, the end of the connecting rod is hinged to the first driving handle, one end of the spring abuts against the rotating seat, and the other end of the spring abuts against an end of the connecting rod adjacent to the first driving handle, a second driving handle fixedly mounted on the hinge shaft, and the second driving handle is used to drive the hinge shaft to rotate. Furthermore, a sliding hole is provided on the rotating seat, the connecting rod is slidably mounted in the sliding hole, and a limiting plate or limiting nut is provided at the end of the connecting rod to prevent the connecting rod from sliding out of the sliding hole; when bagged goods are placed on the L-shaped support frame, the bottom of the L-shaped support frame is in a horizontal position under the elastic force of the spring, and the second driving handle can be powered by an external driving force to achieve the rotational drive of the L-shaped support frame.

[0008] Preferably, the distance adjusting mechanism includes two distance adjusting components with the same structure, and the distance adjusting components include a plurality of adjustment seats slidably mounted on the bottom of the beam, a scissors-type transmission rod and a first driving cylinder fixedly mounted in the middle of the beam, one end of the scissors-type transmission rod is hinged to the middle of the beam, and the other end of the scissors-type transmission rod is hinged to a group of adjustment seats away from the middle of the beam, the output end of the first driving cylinder is fixedly connected to one group of adjustment seats, and the scissors-type transmission rod transmits power to the multiple corresponding adjustment seats on one side of the middle of the beam for synchronous sliding; further, a sliding rod is fixedly mounted on the bottom of the beam, and the adjustment seat is slidably mounted on the sliding rod, and the multiple adjustment seats on one side of the middle of the beam are all hinged at the hinge points in the horizontal direction of the parallelogram enclosed by the rods on the scissors-type transmission rod.

[0009] Preferably, it also includes a flat pressure release mechanism, which includes a vertical frame installed below the middle of the crossbeam and two symmetrically arranged second oblique grabbers installed at the bottom of the vertical frame. The second oblique grabber has the same structure as the first oblique grabber. A second drive cylinder is hingedly installed on the seat frame of the second oblique grabber, and the output end of the second drive cylinder is hinged to the second drive handle on the corresponding second oblique grabber.

[0010] Preferably, a third drive cylinder is installed on the adjustment seat and below the middle of the crossbeam, the seat frame and the longitudinal frame are installed at the output end corresponding to the third drive cylinder, and the seat frame and the longitudinal frame are rotatably installed with a drive wheel that provides power for the rotation of the second drive handle on an adjacent group of first inclined grabbers; further, the maximum rotation angle of the horizontal part of the L-shaped support frame on the first inclined grabber should not be greater than 30°.

[0011] Preferably, a fourth drive cylinder is fixedly installed on the seat frames of the first oblique grabber and the second oblique grabber, and a pressure plate is installed on the output end of the fourth drive cylinder; further, a drive wheel that provides power for the rotation of the second drive handle on the first oblique grabber on both sides of the beam is rotatably installed on the corresponding pressure plate and longitudinal frame.

[0012] Preferably, a plurality of circumferentially evenly distributed protrusions are provided on the outer wall of the driving wheel; further, the outer walls of the driving wheel and the protrusions are coated with a rubber layer to increase the friction between the driving wheel and the second driving handle.

[0013] Preferably, it also includes a belt conveyor arranged parallel to the ground rail, a first rotary cylinder and a second rotary cylinder, the first rotary cylinder is installed on the three-dimensional drive and provides power for the rotation of the beam, the second rotary cylinder is installed on the output end of the third drive cylinder, the center bottom of the beam and both sides of the longitudinal frame, the second rotary cylinder provides power for the rotation of the first oblique grabber and the second oblique grabber's seat frame and the longitudinal frame.

[0014] Preferably, the three-dimensional drive includes a gantry slidably mounted on a ground rail, a transverse drive mounted on the gantry, and a lifting drive mounted on the transverse drive. A rail car is installed at the bottom of the gantry to provide power for the gantry to slide along the ground rail; further, the transverse drive provides power for the lateral movement of the lifting drive, and the lifting drive provides lifting power for the lifting and lowering movement of the single-row stacking coder.

[0015] Preferably, two limit rods are fixedly installed on the seat frames of the first oblique grabber and the second oblique grabber, and limit handles corresponding to the limit rods are fixedly installed on both ends of the hinge shaft; further, under the elastic force of the elastic limiter, when the limit handle contacts one of the limit rods, the bottom of the L-shaped support rack is in a horizontal placement state; the horizontal part of the L-shaped support rack adopts multiple fork rods to reduce the friction between the horizontal part of the bottom of the L-shaped support rack and the bagged goods, so as to facilitate the bagged goods to slide into the L-shaped support rack and facilitate the bagged goods on the L-shaped support rack to slide off.

[0016] Compared with the prior art, the present invention provides a loading robot with the following beneficial effects: the loading robot grabs the bagged goods through the first oblique gripper, and the three-dimensional driver moves the beam to above the trailer to be loaded, the beam is perpendicular to the traveling direction of the trailer to be loaded, and the distance between adjacent first oblique grippers is adjusted by the distance adjusting mechanism, so that the bagged goods on the two adjacent first oblique grippers are neatly stacked in rows, and then the bagged goods on the first oblique grippers from both sides of the beam to the middle of the beam are gradually released; when the bagged goods slide down at the same inclination angle, the landing height of the bagged goods near the ends of both sides of the beam is low, the time for the bagged goods to fall on the trailer is short, and the horizontal movement distance is small; while the bagged goods near the middle of the beam The bagged materials fall at a high point, the bagged goods take a long time to fall onto the trailer, and the horizontal movement distance is large, so that the bagged goods are gradually stacked from the edge of the trailer to the middle of the trailer; when the bagged goods fall at the same height, due to the different inclination angles of the bagged goods, the distance between the falling points of the bagged goods close to the edge of the beam gradually becomes smaller than that of the bagged goods close to the middle of the beam, so that the bagged goods are gradually stacked from the edge of the trailer to the middle of the trailer; the bagged goods in the stacked state constrain each other, which can effectively reduce the accident rate of edge slippage on both sides of the bagged goods stacked on the trailer, realize the loading and processing of multiple bags of bagged goods at a time, and realize the stacking and stacking of bagged goods, thereby improving the loading efficiency and ensuring the stability of the bagged goods stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of loading and stacking at the background technology of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 3 This is a schematic diagram of the planar structure of bagged goods of the present invention when being dropped and loaded onto a vehicle at different heights; Figure 4 This is a schematic diagram of the planar structure of the bagged goods of the present invention when they are dropped onto a vehicle at different inclination angles at the same height; Figure 5 It is a structural schematic diagram of the belt conveyor of the present invention in the state of loading bagged goods onto the L-shaped bracket; Figure 6 The present invention Figure 2 A schematic diagram of the partially enlarged structure at center A; Figure 7 The present invention Figure 5 A schematic diagram of the partially enlarged structure at point B in the middle; Figure 8 This is a schematic diagram of the three-dimensional structure of the first oblique material grabber of the present invention; Figure 9 This is a schematic diagram of the bagged goods of the present invention being stacked and pressed against each other; Markings in the accompanying drawings: 1. Ground rail; 2. Crossbeam; 3. First oblique grabber; 4. Seat; 5. Hinge; 6. L-shaped support frame; 7. Rotating seat; 8. Connecting rod; 9. Spring; 10. First driving handle; 11. Second driving handle; 12. Adjusting seat; 13. Scissors-type transmission rod; 14. First driving cylinder; 15. Vertical frame; 16. Second oblique grabber; 17. Second driving cylinder; 18. Third driving cylinder; 19. Driving wheel; 20. Fourth driving cylinder; 21. Pressing plate; 22. Protrusion; 23. Belt conveyor; 24. First rotating cylinder; 25. Second rotating cylinder; 26. Gantry; 27. Transverse drive; 28. Lifting drive; 29. ​​Limit rod; 30. Limit handle. DETAILED DESCRIPTION

[0018] To help those skilled in the art better understand the invention, the following will provide a clear and complete description of the technical solutions in the embodiments of the invention, in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the invention, not all of them. All other embodiments derived by those skilled in the art based on the embodiments of the invention without creative effort should fall within the scope of protection for the invention.

[0019] As described in the background technology, a continuous automatic loading system for bagged items; please refer to Figure 1In the process of transportation, the bagged goods on the edges of the trailer are easily slipped due to the bumpy road, causing the stacked goods to collapse. A single stacking robot is used to load a single belt of bagged goods at a time. Although the mutual stacking constraints between the bagged goods can be achieved and the stability of the stacked goods can be improved, the loading efficiency is low. How to improve the stacking stability of bagged goods while improving the loading efficiency has become an urgent problem to be solved.

[0020] In order to solve this technical problem, the present invention provides a loading robot, which is used for loading bagged goods.

[0021] It should be noted that, in the absence of conflict, the embodiments of the invention and the features and technical solutions in the embodiments can be combined with each other.

[0022] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0023] Example 1: Please refer to Figure 2-6, a loading robot, which specifically comprises: a ground rail 1 and a stacking mechanism installed on the ground rail 1, the stacking mechanism comprises a three-dimensional drive and a single-row stacking stacker installed on the three-dimensional drive, the three-dimensional drive can drive the single-row stacking stacker to move in three-dimensional space; the single-row stacking stacker comprises a crossbeam 2, a distance adjusting mechanism installed at the bottom of the crossbeam 2 and a plurality of first oblique grabbers 3 installed on the distance adjusting mechanism, the distance adjusting mechanism is used to adjust the distance between two adjacent first oblique grabbers 3, the first oblique grabbers 3 on both sides of the bottom of the crossbeam 2 are arranged in a mirror image with the middle of the crossbeam 2 as the mid-vertical plane, the first oblique grabber 3 allows the bagged goods to slide down and discharge in an inclined shape, and when the bagged goods slide down and discharge at the same inclination angle, the landing height of the bagged goods near the ends of the two sides of the crossbeam 2 is gradually lower than the landing height of the bagged goods near the middle of the crossbeam 2 or the bagged goods are The inclination angle when falling from the same height gradually decreases from the two sides of the beam 2 to the middle of the beam 2; further, the distance adjusting mechanism can adopt a screw-type distance adjuster, or other equivalent parts with a distance adjustment function; the landing height of the bagged goods gradually increases from the two sides of the beam 2 to the middle of the beam 2; it should be noted that there should be sufficient falling height between the bagged goods and the trailer; when the bagged goods are dropped at the same inclination angle, the height difference between the bagged goods can be appropriately adjusted to ensure that there is sufficient overlapping between the bagged goods in the stacked state on the trailer; when the bagged goods are dropped at the same height, the difference in the inclination angle of each bagged goods can be appropriately adjusted to ensure that there is sufficient overlapping between the bagged goods in the stacked state on the trailer; it is also possible to adopt an adjustment method combining the landing height and the inclination angle of the bagged goods according to demand to achieve adaptive adjustment of the overlapping amount between the bagged goods.

[0024] For details, please refer to Figure 1 The three-dimensional drive includes a gantry 26 slidably mounted on the ground rail 1, a transverse drive 27 mounted on the gantry 26, and a lifting drive 28 mounted on the transverse drive 27. A rail car is installed at the bottom of the gantry 26 to provide power for the gantry 26 to slide along the ground rail 1; further, the transverse drive 27 provides power for the transverse movement of the lifting drive 28, and the lifting drive 28 provides lifting power for the lifting and lowering movement of the single-row stacking coder; both the transverse drive 27 and the lifting drive 28 can adopt mechanical slides.

[0025] For details, please refer to Figure 3 or Figure 4; The distance adjusting mechanism includes two distance adjusting components with the same structure, and the distance adjusting components include multiple adjustment seats 12 slidably installed at the bottom of the beam 2, a scissors-type transmission rod 13 and a first drive cylinder 14 fixedly installed in the middle of the beam 2, one end of the scissors-type transmission rod 13 is hinged to the middle of the beam 2, and the other end of the scissors-type transmission rod 13 is hinged to a group of adjustment seats 12 away from the middle of the beam 2, and the output end of the first drive cylinder 14 is fixedly connected to one group of adjustment seats 12, and the scissors-type transmission rod 13 transmits power for synchronous sliding of multiple corresponding adjustment seats 12 on one side of the middle of the beam 2; further, a sliding rod is fixedly installed at the bottom of the beam 2, and the adjustment seat 12 is slidably installed on the sliding rod, and the multiple adjustment seats 12 on one side of the middle of the beam 2 are all hinged to the hinge points in the horizontal direction of the parallelogram enclosed by the rods on the scissors-type transmission rod 13.

[0026] For details, please refer to Figure 8 The first oblique grabber 3 includes a seat frame 4, a hinge shaft 5 rotatably mounted on the seat frame 4, an L-shaped bracket 6 fixedly mounted on the hinge shaft 5, and an elastic limiter. The elastic limiter includes a rotating seat 7 hingedly mounted on the seat frame 4, a connecting rod 8 slidably mounted on the rotating seat 7, and a spring 9 sleeved on the connecting rod 8. A first driving handle 10 is fixedly mounted on the hinge shaft 5, and the end of the connecting rod 8 is hinged to the first driving handle 10. One end of the spring 9 abuts against the rotating seat 7, and the other end of the spring 9 abuts against one end of the connecting rod 8 adjacent to the first driving handle 10. A second driving handle 11 is fixedly mounted on the hinge shaft 5, and the second driving handle 11 is used to drive the hinge shaft 5 to rotate. Furthermore, a sliding hole is provided on the rotating seat 7, and the connecting rod 8 is slidably installed in the sliding hole. The end of the connecting rod 8 is provided with a limit plate or a limit nut to prevent the connecting rod 8 from sliding out of the sliding hole; when bagged goods are placed on the L-shaped bracket 6, under the elastic force of the spring 9, the bottom of the L-shaped bracket 6 is in a horizontal placement state, and the second driving handle 11 can be powered by an external driving force to realize the rotation drive of the L-shaped bracket 6.

[0027] The loading robot provided in this embodiment has a rail car that can drive the gantry 26 to move along the ground rail 1, and the transverse drive 27 and the lifting drive 28 can realize the lateral position adjustment of the beam 2 and the position adjustment in the vertical direction to ensure that the bagged goods are located above the trailer and leave a sufficient distance between the trailer; when it is necessary to load the goods to the trailer, the first drive cylinder 14 is started to shorten the output end of the first drive cylinder 14, and after being driven by the scissor-type transmission rod 13, each adjustment seat 12 is synchronously moved equidistantly toward the middle of the beam 2, so that each first oblique gripper 3 is close to each other, and the distance between two adjacent bagged goods is adaptively adjusted to ensure that the distance between each bagged goods maintains a suitable constant distance before the bagged goods are dropped; after the bagged goods are loaded, they are placed on the horizontal L-shaped bracket 6 At the top, under the elastic force of the spring 9, after being transmitted by the connecting rod 8, a continuous elastic thrust can be provided to the first driving handle 10, so that the L-shaped bracket 6 is in a horizontal state. In the process of moving the bagged goods, the bagged goods can be stably placed on the L-shaped bracket 6 without the need for continuous power output of an external driving mechanism. When the bagged goods on the L-shaped bracket 6 need to be unloaded, an external driving force can be applied to the second driving handle 11, and the second driving handle 11 drives the hinge shaft 5 to rotate, so that the horizontal part of the L-shaped bracket 6 is in an inclined state. Under the action of gravity, the bagged goods on the L-shaped bracket 6 are unloaded by themselves. When unloading, it is only necessary to provide unloading power through an external driving cylinder or other driving components. There is no need for continuous power output of an external driving cylinder or other driving components, which is more energy-efficient.

[0028] Example 2: Further optimize the loading robot provided in Example 1. For details, please refer to Figure 6 , and also includes a flat pressure release mechanism, which includes a longitudinal frame 15 installed at the lower middle part of the crossbeam 2 and two symmetrically arranged second oblique grabbers 16 installed at the bottom of the longitudinal frame 15. The second oblique grabber 16 has the same structure as the first oblique grabber 3. A second driving cylinder 17 is hingedly installed on the seat frame 4 of the second oblique grabber 16, and the output end of the second driving cylinder 17 is hinged to the second driving handle 11 on the corresponding second oblique grabber 16; further, when the bagged goods are loaded onto the vehicle, the bagged goods on the first oblique grabber 3 and the bagged goods on the second oblique grabber 16 are vertical; the rotation angle of the L-shaped bracket 6 on the second oblique grabber 16 is 45°-90° to improve the smoothness of the bagged goods unloading from the L-shaped bracket 6 at the second oblique grabber 16, thereby ensuring the smooth unloading of the bagged goods.

[0029] For details, please refer to Figure 3-4, a third driving cylinder 18 is installed on the adjustment seat 12 and below the middle of the beam 2, the seat frame 4 and the vertical frame 15 are installed at the output end of the corresponding third driving cylinder 18, and the seat frame 4 and the vertical frame 15 are rotatably installed with a driving wheel 19 that provides power for the rotation of the second driving handle 11 on the adjacent group of first oblique grabbers 3; further, the maximum rotation angle of the horizontal part of the L-shaped bracket 6 on the first oblique grabber 3 should not be greater than 30°; when the bagged goods on the L-shaped bracket 6 need to be unloaded, the output end of a group of third driving cylinders 18 near the edge of the beam 2 is extended, and the corresponding first oblique grabber 3 is rotated. The grabber 3 moves downward, and during the downward movement, the second driving handle 11 contacts the driving wheel 19 on the adjacent group of first inclined grabbers 3, and the driving wheel 19 limits the second driving handle 11. The second driving handle 11 drives the hinge shaft 5 to rotate, thereby realizing the rotation drive of the L-shaped bracket 6. When the horizontal part of the L-shaped bracket 6 is tilted, the bagged goods on the L-shaped bracket 6 can slide down and be discharged by themselves under the action of gravity; when the maximum rotation angle of the L-shaped bracket 6 is greater than 30°, it will cause excessive cleaning of the bagged goods, causing excessive displacement of the material in the packaging bag and excessive deviation of the material; it should be noted that, Figure 4 The angles shown are only for the convenience of readers to understand how each bagged cargo falls at different inclination angles, and should not be understood as a restriction on the falling inclination angles of each bagged cargo in this case.

[0030] For details, please refer to Figure 8 Two limit rods 29 are fixedly installed on the seat frame 4 of the first oblique grabber 3 and the second oblique grabber 16, and limit handles 30 corresponding to the limit rods 29 are fixedly installed at both ends of the hinge shaft 5; further, under the elastic force of the elastic limiter, when the limit handle 30 contacts one of the limit rods 29, the bottom of the L-shaped bracket 6 is in a horizontal placement state; the horizontal part of the L-shaped bracket 6 adopts multiple fork rods to reduce the friction between the horizontal part of the bottom of the L-shaped bracket 6 and the bagged goods, so as to facilitate the bagged goods to slide into the L-shaped bracket 6 and facilitate the bagged goods on the L-shaped bracket 6 to slide off.

[0031] Specifically, a fourth driving cylinder 20 is fixedly mounted on the seat frame 4 of the first oblique grabber 3 and the second oblique grabber 16, and a pressure plate 21 is mounted on the output end of the fourth driving cylinder 20; further, the driving wheel 19 that provides power for the rotation of the second driving handle 11 on the first oblique grabber 3 on both sides of the beam 2 is rotatably mounted on the corresponding pressure plate 21 and the longitudinal frame 15; by starting the fourth driving cylinder 20, the pressure plate 21 moves downward to flatten the bagged goods on the L-shaped bracket 6, so as to ensure the regularity of the bagged goods when loading, and to provide a basis for the subsequent bagged goods The neatness of the stacking materials on the trailer is guaranteed; and in the process of the crossbeam 2 following the movement of the three-dimensional driver, the pressure plate 21 can also press the bagged goods on the L-shaped support rack 6 to prevent it from sliding off the L-shaped support rack 6. When the bagged goods are unloaded, the pressure plate 21 is released from the pressure limit on the bagged goods; the position of the pressure plate 21 can also be changed by starting the fourth drive cylinder 20, thereby changing the height position of the drive wheel 19, so as to make further adaptive adjustments to the rotation angle of the L-shaped support rack 6 to meet the multi-angle working conditions of the L-shaped support rack 6.

[0032] For details, please refer to Figure 7 ; A plurality of circumferentially evenly distributed protrusions 22 are provided on the outer wall of the driving wheel 19; further, the outer walls of the driving wheel 19 and the protrusions 22 are covered with a rubber layer to increase the friction between the driving wheel 19 and the second driving handle 11; so that the driving wheel 19 and the second driving handle 11 are in good contact to ensure that the driving wheel 19 is in a rotating state during the contact process with the second driving handle 11.

[0033] For details, please refer to Figure 5 It also includes a belt conveyor 23, a first rotary cylinder 24 and a second rotary cylinder 25 arranged parallel to the ground rail 1. The first rotary cylinder 24 is installed on the three-dimensional driver and provides power for the rotation of the beam 2. Multiple second rotary cylinders 25 are respectively installed on the output end of the third drive cylinder 18, the central bottom of the beam 2 and the bottom sides of the longitudinal frame 15. The second rotary cylinders 25 provide power for the rotation of the first oblique grabber 3 and the seat frame 4 on the second oblique grabber 16 and the longitudinal frame 15.

[0034] The loading robot provided in this embodiment has the following characteristics: when the bagged goods on the two second oblique grippers 16 on the flat pressure release mechanism are unloaded, the output ends of the second driving cylinders 17 on the two second oblique grippers 16 are shortened synchronously, and the second driving handles 11 on the second oblique grippers 16 drive the corresponding hinge shafts 5 to rotate, so that the L-shaped support frames 6 on the two second oblique grippers 16 follow the hinge shafts 5 to rotate to an inclined state, and the two bagged goods slide synchronously under the action of gravity, and in the sliding process, the two bagged goods synchronously approach the center below the longitudinal frame 15 and collide with each other, and in the collision process, the goods in the bagged goods are squeezed, and the two bagged goods can fall to the middle of the trailer, and the edges of the two bagged goods are pressed on the same row of stacked bagged goods that have been loaded to both sides of the trailer by the first oblique gripper 3. Please refer to the final coding status of each bagged goods. Figure 9 In this way, the bagged goods can be gradually stacked from the edges of both sides of the trailer to the middle of the trailer, further improving the stacking stability of the bagged goods. It should be noted that the goods filled in the bagged goods can be granular matter, powder or other materials with plasticity and adjustability.

[0035] Please refer to Figure 3 By adjusting the elongation of the output end of each third drive cylinder 18, the dropping height of each first oblique grabber 3 can be adaptively adjusted according to needs. When loading bagged goods, the third drive cylinders 18 on both sides of the beam 2 are gradually started from the two sides of the beam 2 to the middle of the beam 2, and the elongation of the output end of each third drive cylinder 18 when the bagged goods are dropped gradually becomes smaller from the two ends of the beam 2 to the middle of the beam 2. This can ensure that when the bagged goods slide down at the same inclination angle, the landing height of the bagged goods near the two ends of the beam 2 is gradually lower than the landing height of the bagged goods near the middle of the beam 2; so that the bagged goods are gradually stacked and dropped from the two side edges of the trailer to the middle of the trailer. It should be noted that when a group of first oblique grabbers 3 is unloading, the driving wheels 19 on the corresponding adjacent group of first oblique grabbers 3 are fixed in position (the corresponding adjacent group of first oblique grabbers 3 is not Figure 3 shown position), Figure 3 The height of each bagged cargo falling from each first inclined grabber 3 is only shown in FIG, which is not the normal falling operation state; please refer to Figure 4 When the bagged goods are dropped at a fixed height, the extension of the output end of the third driving cylinder 18 and the position of the driving wheel 19 on the adjacent group of first oblique grabbers 3 can be controlled so that the inclination angle of the L-shaped bracket 6 on each first oblique grabber 3 when dropping the goods gradually decreases from the edge of the beam 2 to the middle of the beam 2. Figure 4The positions of the first inclined grabbers 3 in the figure are all height and tilt angle diagrams of the bagged goods unloading state. The first inclined grabbers 3 do not unload the bagged goods synchronously at the same time, but gradually slide down from the end of the beam 2 to the middle of the beam 2. The position of the driving wheel 19 in the sliding unloading state can be referred to Figure 4 The dotted line position in the figure; the unloading height and unloading inclination angle of the bagged goods can be controlled and adjusted by the external PLC system to adjust the elongation of the third drive cylinder 18. The specific principle is not within the scope of protection of this case and will not be further elaborated here. When adjusting the unloading height or unloading inclination angle of the bagged goods, it is necessary to ensure that there is sufficient overlap between the two adjacent bagged goods on the trailer, and the overlap between the two adjacent bagged goods is 10-20 cm; the overlap can also be adaptively adjusted according to the size of the bagged goods and the properties of the filling material in the bagged goods.

[0036] The two limiting rods 29 can limit the moving track of the limiting handle 30, thereby limiting the rotation angle of the L-shaped bracket 6 to prevent the L-shaped bracket 6 from rotating too much, thereby preventing the bagged goods from sliding off at an excessively large inclination angle.

[0037] When the second driving handle 11 contacts the driving wheel 19, the driving wheel 19 rotates. Since the rotation angle of the L-shaped bracket 6 is less than 30°, it is difficult for the bagged goods to fall off from the L-shaped bracket 6 by themselves. During the rotation of the driving wheel 19, the protrusion 22 frequently contacts and disengages from the second driving handle 11, causing the second driving handle 11 to perform a low-amplitude swinging motion, thereby causing the L-shaped bracket 6 to perform a slight vibration motion, which is conducive to the bagged goods on the L-shaped bracket 6 to slide down and drop off by themselves, thereby improving the smoothness of the bagged goods.

[0038] The first rotary cylinder 24 can be used to adjust the crossbeam 2 to a state parallel to the belt conveyor 23, and the second rotary cylinder 25 can be used to make the vertical frame 15 and the crossbeam 2 parallel. The second rotary cylinder 25 can also make the first oblique grabber 3 and the second oblique grabber 16 face the direction of the conveyor belt 23. Figure 9 On the side of the incoming material direction of the belt conveyor 23 shown, the three-dimensional driver drives the crossbeam 2 to move above the belt conveyor 23, and the third drive cylinder 18 drives each first inclined grabber 3 or the second inclined grabber 16 to move downward in turn, so that the bagged goods on the belt conveyor 23 enter the L-shaped support rack 6 on the first inclined grabber 3 and the second inclined grabber 16 in turn. When the bagged goods are loaded onto the L-shaped support rack 6, the horizontal part of the L-shaped support rack 6 is tilted downward to the side of the incoming material direction to realize automatic loading of the bagged goods onto the L-shaped support rack 6.

[0039] The use process of the loading robot provided by the present invention is as follows: Please refer to the initial state Figure 5The crossbeam 2 is located above the belt conveyor 23 and is parallel to the belt conveyor 23. The first oblique grabber 3 and the second oblique grabber 16 are arranged in a Figure 5 The state shown is toward the side of the incoming material direction of the belt conveyor 23, and the distance between each first oblique grabber 3 and the second oblique grabber 16 is adjusted by the distance adjusting mechanism, so that the driving wheel 19 is located below the second driving handle 11 on the corresponding first oblique grabber 3, and the output end of the third driving cylinder 18 extends and drives the corresponding first oblique grabber 3 and the second oblique grabber 16 to move gradually downward from the incoming material direction, so that the L-shaped bracket 6 scoops up the bagged goods on the belt conveyor 23, and the output end of the third driving cylinder 18 shortens. Under the action of the elastic limiter, the L-shaped bracket 6 returns to a horizontal state, and the output end of the fourth driving cylinder 20 extends, and the pressure plate 21 moves down and presses the bagged goods onto the L-shaped bracket 6; under the action of the three-dimensional drive and the first rotary cylinder 24 and the second rotary cylinder 25, the crossbeam 2 is in a state perpendicular to the direction of travel of the trailer (please refer to the details). Figure 3-4 ), the distance between the adjacent first oblique grabbers 3 is further adjusted by the distance adjustment mechanism, so that the bagged goods on the two adjacent first oblique grabbers 3 are neatly stacked in rows, and then the bagged goods on the first oblique grabbers 3 on both sides of the beam 2 to the middle of the beam 2 are gradually released. The specific release principle is as described above; the bagged goods are stacked at the same inclination angle according to the Figure 3 The height difference shown in the figure is gradually lowered to unload the material or bag the goods. Figure 4 The tilt angle shown is dropped at the same height (the falling height of the bagged goods and the method for adjusting the tilt angle during unloading can be referred to the description in Example 2 and will not be further elaborated here), so that the bagged goods are gradually stacked and placed from the edge of the trailer to the middle of the trailer; then, the two bagged goods are placed in the middle of the trailer through the flattening release mechanism and the two adjacent bagged goods are stacked, and the above actions are repeated until the entire trailer is filled with bagged goods.

[0040] In the present invention, unless otherwise expressly specified or limited, terms such as "mounted," "connected," "connect," and "fixed" should be interpreted broadly. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections, electrical connections, or communication between them; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components, unless otherwise expressly limited. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

Claims

1. A loading robot, characterized in that: The invention comprises a ground rail (1) and a stacking mechanism installed on the ground rail (1), wherein the stacking mechanism comprises a three-dimensional driver and a single-row stacking type stacker installed on the three-dimensional driver, wherein the three-dimensional driver can drive the single-row stacking type stacker to move in three-dimensional space; the single-row stacking type stacker comprises a crossbeam (2), a distance adjustment mechanism installed at the bottom of the crossbeam (2), and a plurality of first oblique type grabbers (3) installed on the distance adjustment mechanism, wherein the distance adjustment mechanism is used to adjust the distance between two adjacent first oblique type grabbers (3). The spacing is adjusted, and the first oblique grabbers (3) on both sides of the bottom of the beam (2) are arranged in a mirror image with the beam (2) as the mid-vertical plane. The first oblique grabbers (3) allow the bagged goods to slide down in an oblique shape. When the bagged goods slide down at the same inclination angle, the landing height of the bagged goods near the ends of the beam (2) is gradually lower than the landing height of the bagged goods near the middle of the beam (2), or the inclination angle of the bagged goods when falling at the same height gradually decreases from the two sides of the beam (2) to the middle of the beam (2).

2. A loading robot according to claim 1, characterized in that: The first inclined grabber (3) comprises a seat frame (4), a hinge shaft (5) rotatably mounted on the seat frame (4), an L-shaped support frame (6) fixedly mounted on the hinge shaft (5), and an elastic limiter, wherein the elastic limiter comprises a rotating seat (7) hingedly mounted on the seat frame (4), a connecting rod (8) slidably mounted on the rotating seat (7), and a spring (9) sleeved on the connecting rod (8), a first driving handle (10) is fixedly mounted on the hinge shaft (5), an end of the connecting rod (8) is hinged to the first driving handle (10), one end of the spring (9) abuts against the rotating seat (7), and the other end of the spring (9) abuts against one end of the connecting rod (8) adjacent to the first driving handle (10), a second driving handle (11) is fixedly mounted on the hinge shaft (5), and the second driving handle (11) is used to drive the hinge shaft (5) to rotate.

3. A loading robot according to claim 2, characterized in that: The distance adjustment mechanism comprises two distance adjustment components with the same structure, wherein the distance adjustment components comprise a plurality of adjustment seats (12) slidably mounted on the bottom of the beam (2), a scissor-type transmission rod (13) and a first drive cylinder (14) fixedly mounted on the middle of the beam (2), one end of the scissor-type transmission rod (13) is hinged to the middle of the beam (2), the other end of the scissor-type transmission rod (13) is hinged to a group of adjustment seats (12) away from the middle of the beam (2), the output end of the first drive cylinder (14) is fixedly connected to one of the groups of adjustment seats (12), and the scissor-type transmission rod (13) transmits power to the plurality of corresponding adjustment seats (12) on one side of the middle of the beam (2) through synchronous sliding.

4. A loading robot according to claim 3, characterized in that: The invention also includes a flat pressure release mechanism, which includes a longitudinal frame (15) installed below the middle of the crossbeam (2) and two symmetrically arranged second oblique grabbers (16) installed at the bottom of the longitudinal frame (15). The second oblique grabber (16) has the same structure as the first oblique grabber (3). A second driving cylinder (17) is hingedly installed on the seat frame (4) of the second oblique grabber (16). The output end of the second driving cylinder (17) is hingedly connected to the second driving handle (11) on the corresponding second oblique grabber (16).

5. A loading robot according to claim 4, characterized in that: A third driving cylinder (18) is installed on the adjustment seat (12) and below the middle of the crossbeam (2). The seat frame (4) and the longitudinal frame (15) are installed at the output end corresponding to the third driving cylinder (18). A driving wheel (19) is rotatably installed on the seat frame (4) and the longitudinal frame (15) to provide power for the rotation of the second driving handle (11) on the adjacent group of first inclined grabbers (3).

6. A loading robot according to claim 4, characterized in that: A fourth drive cylinder (20) is fixedly mounted on the base frames (4) of the first oblique material grabber (3) and the second oblique material grabber (16), and a pressure plate (21) is mounted on the output end of the fourth drive cylinder (20).

7. The loading robot according to claim 5, characterized in that: A plurality of protrusions (22) evenly distributed in the circumferential direction are provided on the outer wall of the driving wheel (19).

8. The loading robot according to claim 5, characterized in that: The invention also includes a belt conveyor (23) arranged in parallel with the ground rail (1), a first rotary cylinder (24) and a second rotary cylinder (25), wherein the first rotary cylinder (24) is mounted on the three-dimensional drive and provides power for the rotation of the crossbeam (2), and the second rotary cylinder (25) provides power for the rotation of the seat frame (4) and the longitudinal frame (15) on the first oblique grabber (3) and the second oblique grabber (16).

9. The loading robot according to claim 1, characterized in that: The three-dimensional drive comprises a gantry (26) slidably mounted on a ground rail (1), a transverse drive (27) mounted on the gantry (26), and a lifting drive (28) mounted on the transverse drive (27). A rail car is mounted at the bottom of the gantry (26) to provide power for the gantry (26) to slide along the ground rail (1).

10. The loading robot according to claim 4, characterized in that: Two limiting rods (29) are fixedly mounted on the seats (4) of the first oblique material grabber (3) and the second oblique material grabber (16), and limiting handles (30) corresponding to the limiting rods (29) are fixedly mounted on both ends of the hinge shaft (5).

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