Full-automatic discharging device for bagged mortar

Abstract

The invention relates to the technical field of full-automatic equipment in a bagged mortar discharging link, in particular to a full-automatic bagged mortar discharging device which comprises a rack used for installing and supporting all parts. By arranging a clamping jaw body related structure of the clamping mechanism, the working end of each jaw body of the clamping jaw body is provided with a groove, a pressure sensor is fixed in the clamping jaw body, the opening end is movably connected with a clamping block, a pressing rod is fixed to the inner side of the clamping block, a spring is arranged on the inner side of the clamping block in a sleeving mode, and the clamping block is matched with a first ball through a sliding block and a sliding groove. During working, the clamping jaw air cylinder drives the clamping jaw body to be closed, the jaw holding block moves towards the interior of the groove after making contact with bagged mortar, the pressing rod extrudes the pressure sensor, the pressure sensor transmits a force signal to the control mechanism, the control mechanism adjusts output force of the clamping jaw air cylinder accordingly, and meanwhile the spring is compressed and buffered; the sliding blocks slide in the sliding grooves, and friction is reduced through the first balls. According to the structure, the problem that a mortar bag falls or is crushed due to rigidity of an existing clamping jaw is solved, clamping stagnation is reduced, and manual intervention and adjustment are not needed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of full-automatic equipment for bagged mortar unloading link, in particular to a full-automatic bagged mortar unloading device. BACKGROUND

[0002] In the construction industry, bagged mortar is a commonly used material in masonry, plastering and other construction links, and the efficiency and automation degree of its unloading operation directly affect the construction progress. At present, there are mainly two implementation ways for bagged mortar unloading: One is traditional manual operation, and the operation personnel need to manually carry and place bagged mortar, which not only has low overall operation efficiency, but also has too large labor intensity due to long-time high-intensity labor, and the mortar bag is easily damaged or dropped due to improper force control when manually clamped and placed, further affecting the operation stability; The second is a semi-automatic unloading device, which reduces part of physical labor compared with manual operation, but there are still obvious defects in the core clamping and transferring link - the clamping jaw of the existing semi-automatic device is mostly rigid structure, lacks force detection and buffer adjustment function, and when clamping, the mortar bag is either dropped due to too small force or the packaging bag is crushed due to too large force, and the movable parts of the clamping jaw have large friction resistance and are prone to jamming problems, which need frequent manual intervention and adjustment. At the same time, the device still needs manual assistance to position the bagged mortar and control start and stop, and the automation degree is insufficient, which cannot meet the needs of the development of building industrialization for bagged mortar unloading "high efficiency, stability and full automation". More importantly, the existing technology has not optimized the clamping jaw structure: there is no part for real-time detection of clamping force, which cannot accurately control the clamping force; there is no buffer and resistance reduction structure, which causes the clamping jaw to move smoothly and easily damage the mortar bag. Therefore, it is urgent to provide a full-automatic unloading device that can realize the whole process of bagged mortar from feeding to stacking without manual participation, and has an optimized clamping jaw structure. SUMMARY

[0003] 1. Technical problems solved The purpose of the present application is to provide a full-automatic bagged mortar unloading device to solve the problems in the background art.

[0004] The bagged mortar full-automatic feeding device provided by the application adopts the following technical scheme: a rack for mounting and supporting various components, a swing arm for grabbing and transferring bagged mortar, a rotating mechanism for driving the swing arm to rotate and adjust the position, a conveying mechanism for conveying the bagged mortar, a dust removal mechanism for removing dust from the bagged mortar, a detection mechanism for detecting the state of the working area, a control mechanism for controlling the operation of the device, and a clamping mechanism for grabbing the bagged mortar, wherein the clamping mechanism comprises a clamping jaw cylinder for providing clamping power and a clamping jaw body for directly contacting and grabbing the bagged mortar; The clamping jaw body is provided with a groove at each working end of the jaw body, a pressure sensor for detecting the clamping force is fixedly connected inside the groove and connected with the control mechanism, a jaw holding block is movably connected at the opening end of the groove, a pressure rod is fixedly connected to the side of the jaw holding block close to the inside of the groove, springs are arranged on the surfaces of the pressure sensor and the pressure rod, one end of the spring is fixedly connected to the side of the groove where the pressure sensor is installed, and the other end of the spring is fixedly connected to the side of the jaw holding block close to the inside of the groove; a sliding block is fixedly connected to the upper and lower ends of the side of the jaw holding block close to the inside of the groove, a sliding groove matching the sliding block is formed in the inside of the groove, and a first rolling ball is rollingly connected to the inside of the sliding block close to the sliding groove. By adopting the above technical scheme, the specific structure of the clamping mechanism is defined, and the problems of strong rigidity of the clamping jaw, lack of force detection and buffering are solved: first, the pressure sensor is arranged in the groove of the clamping jaw body, which can detect the clamping force in real time and feed back to the control mechanism, avoiding the bagged mortar from falling or the packaging bag from being damaged due to improper force, and improving the clamping stability; second, the spring outside the pressure rod can provide buffering, further protecting the packaging bag and reducing material loss; third, the cooperation of the sliding block, the sliding groove and the first rolling ball reduces the friction of the jaw holding block movement, avoids the clamping jaw from being stuck, eliminates the need for manual intervention and adjustment, improves the smoothness of the clamping jaw action, and ensures the continuity of the full-automatic operation. At the same time, the complete component combination enables the device to have core grabbing capability, laying a foundation for subsequent transfer and stacking links.

[0005] Preferably, the rotating mechanism comprises a base, a motor compartment, a servo motor and a rotating disc, the base is arranged at the upper end of the rack, the motor compartment is formed in the inside of the base, the servo motor is fixedly connected in the inside of the motor compartment, the output end of the servo motor penetrates through the upper end of the base and is fixedly connected with the lower surface of the rotating disc, and the swing arm is arranged at the upper end of the rotating disc. By adopting the technical scheme, the composition and connection relationship of the rotating mechanism are defined to provide stable and reliable rotating power for the swing arm: the base provides fixed support for the rotating mechanism to ensure the stability of the overall structure; the motor compartment protects the servo motor to avoid dust and impurities affecting the operation of the motor and prolong the service life of the servo motor; the servo motor directly drives the rotating disc to rotate to drive the swing arm to adjust the position, which is faster in response and more accurate in position control compared with the traditional manual or semi-automatic adjustment mode, without the need for manual positioning, thereby improving the efficiency and accuracy of the swing arm in moving the bagged mortar and ensuring the orderly progress of the discharging process.

[0006] Preferably, a first sliding rail is formed on the upper surface of the base, a second sliding rail adapted to the first sliding rail is formed on the lower surface of the rotating disc, and a plurality of second balls are rollingly connected inside the first sliding rail and the second sliding rail. By adopting the technical scheme, the rotating performance of the rotating mechanism is optimized by adding the first sliding rail, the second sliding rail, and the second balls: the adaptive structure of the first sliding rail and the second sliding rail provides guidance for the rotation of the rotating disc to avoid deviation and ensure the stability of the swing arm rotation trajectory; the plurality of second balls inside greatly reduce the frictional resistance between the rotating disc and the base, making the rotating disc rotate more smoothly and labor-saving, reducing the operating load of the servo motor, and reducing energy consumption and component wear; the overall structure improves the operating stability and durability of the rotating mechanism, avoids affecting the movement of the bagged mortar due to rotation jamming, and ensures long-term stable operation of the device.

[0007] Preferably, an angle sensor for connecting with the control mechanism and detecting the rotation angle of the rotating disc is arranged on the upper surface of the rotating disc. By adopting the technical scheme, the positioning accuracy of the swing arm is further improved by the angle sensor: the angle sensor detects the rotation angle of the rotating disc in real time and feeds back to the control mechanism, which can accurately adjust the operation of the servo motor according to the signal to make the swing arm quickly and accurately move to the target position, avoiding failure to grab or messy stacking due to deviation in the rotation angle; compared with the structure without angle detection, manual observation and adjustment are not needed, human error is reduced, the automation degree and operation accuracy of the device are improved, the position of the bagged mortar is accurately moved and stacked, and the overall discharging efficiency is improved.

[0008] Preferably, the conveying mechanism includes a conveying line for conveying the bagged mortar and a feeding line for conveying the bagged mortar to the conveying line, and a plurality of conveying lines are arranged side by side; the feeding line is connected with the dust removal mechanism, and a plurality of incoming material sensors for positioning the position of the bagged mortar are arranged on the conveying line and connected with the control mechanism. By adopting the technical scheme, the structure and function of the conveying mechanism are defined, the problems of low conveying efficiency and difficult positioning in the prior art are solved, and the following advantages are achieved. Firstly, the plurality of parallel conveying lines can simultaneously convey a plurality of groups of bagged mortar, thereby greatly improving the conveying efficiency and meeting the batch discharging requirement. Secondly, the feeding line is connected with the dust removal mechanism, so that the bagged mortar can be simultaneously dusted during the conveying process, without the need to additionally set a dust removal process, thereby simplifying the operation process. Thirdly, the incoming material sensor on the conveying line can position the position of the bagged mortar in real time, and feedback to the control mechanism to adjust the conveying speed, so as to avoid stacking or too large spacing of the bagged mortar, ensure the order of conveying, and improve the automation degree and efficiency of the conveying link, thereby providing accurate material position guarantee for the subsequent grabbing link.

[0009] Preferably, the detection mechanism includes two groups of detection device bodies, and the two groups of detection device bodies are arranged on both sides of the working area of the discharging device. One group is a personnel detection device for detecting whether there is personnel activity in the working area, and the other group is a stacking detection device for detecting personnel activity and positioning the initial position of stacking. The personnel detection device and the stacking detection device each include an infrared sensor, and the stacking detection device further includes a laser sensor. By adopting the technical scheme, the two groups of detection device bodies are used to realize the dual guarantee of operation safety and stacking order. The infrared sensor of the personnel detection device monitors the personnel activity in the working area in real time, and immediately feeds back to the control mechanism to stop the equipment once the personnel are detected, so as to avoid personnel from entering the dangerous area and protect the personal safety of the operating personnel. The infrared sensor of the stacking detection device also has a safety monitoring function, and the laser sensor thereof can accurately position the initial position of stacking, so as to provide accurate coordinates for the arm stacking, avoid stacking deviation and confusion, and avoid manual marking of the stacking position or observation of the safety condition, thereby improving the operation safety and guaranteeing the stacking order, and meeting the dual requirements of safety and efficiency for the full-automatic operation.

[0010] Preferably, the control mechanism includes a control box, a control mainboard arranged on the control box, and an external input device connected with the control box and used for setting the running parameters of the equipment. The control mainboard is electrically connected with the rotating mechanism, the arm, the clamping mechanism, the conveying mechanism, the dust removal mechanism, and the detection mechanism. By adopting the technical scheme, the structure and connection relationship of the control mechanism are clearly controlled, the core control capability is provided for the device, the control box plays a protection and fixing role on the control mainboard, and stable operation of the control core is ensured; the control mainboard is electrically connected with each mechanism, can receive sensor signals and output control instructions, realizes collaborative control of all links such as rotation, grabbing, conveying and detection, and ensures synchronous operation of each part of the device; the peripheral input device facilitates the operator to set operation parameters, adapts to the discharging requirements of different specifications of bagged mortar, and improves the universality of the device. The overall structure enables the device to have complete full-automatic control capability, without manual operation of each part, completely solves the problem of manual intervention of traditional manual and semi-automatic equipment, and greatly improves the operation efficiency and automation level.

[0011] Preferably, the working surfaces of the first slide rail and the second slide rail are provided with wear-resistant coatings; By adopting the technical scheme, the wear-resistant coating can reduce the wear of the working surface of the slide rail, avoid deformation and precision reduction of the slide rail due to long-term rotation and friction, and prolong the service life of the first slide rail and the second slide rail.

[0012] 2. Beneficial effects In summary, the present application includes at least one of the following beneficial technical effects: 1. The present application provides a bagged mortar full-automatic discharging device, which solves the rigidity problem of the clamping jaw, improves the clamping stability and smoothness by setting the related structure of the clamping jaw body of the clamping mechanism, each jaw body working end of the clamping jaw body is provided with a groove, a pressure sensor is fixed inside, an opening end is movably connected with a jaw holding block, a pressure rod is fixed in the inside of the jaw holding block and is sleeved with a spring, and a sliding block, a sliding groove and a first ball are matched. During work, the clamping jaw cylinder drives the clamping jaw body to close, the jaw holding block moves into the groove after contacting the bagged mortar, the pressure rod extrudes the pressure sensor, the pressure sensor transmits the force signal to the control mechanism, the control mechanism adjusts the output force of the clamping jaw cylinder according to the force signal, and the spring is compressed for buffering; the sliding block slides in the sliding groove, and the first ball reduces friction. This structure avoids the problems of bagged mortar falling or being crushed due to the rigidity of the existing clamping jaw, reduces jamming, does not need manual intervention for adjustment, and improves the clamping stability and smoothness.

[0013] 2.The application provides a full-automatic bagged mortar unloading device, which is characterized by the following technical scheme: a rotating mechanism base, a rotating disc and related sliding rails and balls are arranged to improve the rotating stability and position accuracy of the swing arm; a first sliding rail is arranged on the base of the rotating mechanism, a second sliding rail is arranged on the lower surface of the rotating disc, a second ball is arranged inside and connected in a rolling manner, and an angle sensor is arranged on the rotating disc; during operation, the rotating disc is driven to rotate by a servo motor, the swing arm is driven to adjust the position, the first sliding rail, the second sliding rail and the second ball are matched to reduce the rotating friction of the rotating disc, the rotating is more stable, the angle sensor transmits the rotating angle signal of the rotating disc to a control mechanism, the control mechanism adjusts the operation of the servo motor to ensure the accurate positioning of the swing arm; compared with the existing equipment, manual positioning is not required, the position accuracy and rotating stability of the swing arm are improved, and the reliability during the transfer of the mortar bag is ensured.

[0014] 3.The application provides a full-automatic bagged mortar unloading device, which is characterized by the following technical scheme: a plurality of conveying lines, a feeding line and a material arrival sensor of a conveying mechanism are arranged to improve the mortar conveying efficiency and positioning accuracy; the conveying mechanism comprises a plurality of parallel conveying lines and a feeding line connected with a dust removal mechanism, and a material arrival sensor is arranged on the conveying line; during operation, the bagged mortar is conveyed through the feeding line, passes through the dust removal mechanism for dust removal, enters the plurality of parallel conveying lines, the material arrival sensor transmits the mortar position signal to the control mechanism, and the control mechanism adjusts the conveying line running speed; the plurality of conveying lines improve the conveying efficiency, the material arrival sensor ensures the accurate positioning of the mortar, manual placement or positioning is not required, the problems of low conveying efficiency of traditional manual conveying and positioning dependence on manual operation of semi-automatic equipment are solved, and the overall conveying efficiency and accuracy are improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a structure schematic view of the front view of the application; Figure 2 It is a structure schematic view of the local section of the working end of the clamping jaw body of the application; Figure 3 It is a structure schematic view of the pressure sensor, jaw holding block and pressure rod of the application; Figure 4 It is a structure schematic view of the rotating mechanism of the application; Figure 5 It is a structure schematic view of the rotating mechanism of the application; Figure 4 It is a structure schematic view of the control mechanism of the application; Figure 6 It is a structure schematic view of the control mechanism of the application; Figure 7 Figure 1 It is a structure schematic view of the control mechanism of the application;

[0016] ​Wherein, 1, rack; 2, rotating mechanism; 21, base; 22, motor compartment; 23, servo motor; 24, rotating disc; 25, first sliding rail; 26, second sliding rail; 27, second ball; 3, swing arm; 4, conveying mechanism; 41, conveying line; 42, feeding line; 5, dust removal mechanism; 6, detection mechanism; 61, detection device body; 611, personnel detection device; 612, pile detection device; 7, control mechanism; 71, control box; 72, control mainboard; 73, peripheral input device; 8, clamping mechanism; 81, clamping cylinder; 82, clamping body; 821, groove; 822, pressure sensor; 823, claw holding block; 824, pressure rod; 825, spring; 826, sliding block; 827, sliding groove; 828, first ball; 9, angle sensor; 10, incoming material sensor. DETAILED DESCRIPTION

[0017] The following will be described in detail in combination with the accompanying drawings. Figure 1 - The accompanying drawings Figure 7 , the present application will be further described in detail.

[0018] Example 1: A full-automatic bagged mortar unloading device, referring to Figure 1 , Figure 2 and Figure 3 , including a rack 1 for mounting and supporting various components, a swing arm 3 for grabbing and moving bagged mortar, a rotating mechanism 2 for driving the swing arm 3 to rotate and adjust the position, a conveying mechanism 4 for conveying bagged mortar, a dust removal mechanism 5 for dust removal of bagged mortar, a detection mechanism 6 for detecting the state of the working area, a control mechanism 7 for controlling the operation of the device, and a clamping mechanism 8 for grabbing bagged mortar, the clamping mechanism 8 includes a clamping cylinder 81 for providing clamping power and a clamping body 82 for directly contacting and grabbing bagged mortar; The jaw body 82 is provided with a groove 821 at each working end of the jaw body, and a pressure sensor 822 for detecting the clamping force is fixedly connected inside the groove 821 and connected with the control mechanism 7. A jaw holding block 823 is movably connected to the opening end of the groove 821, and a pressure rod 824 is fixedly connected to the side of the jaw holding block 823 close to the inside of the groove 821. The pressure sensor 822 and the pressure rod 824 are provided with a spring 825, one end of which is fixedly connected to the side of the groove 821 where the pressure sensor 822 is installed, and the other end is fixedly connected to the side of the jaw holding block 823 close to the inside of the groove 821. The jaw holding block 823 is fixedly connected with a sliding block 826 at the upper and lower ends of the side close to the inside of the groove 821, and the groove 821 is provided with a sliding groove 827 matched with the sliding block 826. The first ball 828 is rollingly connected inside the sliding groove 827 close to the side of the sliding groove 827. By specifying the specific structure of the clamping mechanism 8, the problems of strong rigidity of the existing clamping jaw, no force detection and buffering are solved. Firstly, the pressure sensor 822 is arranged in the groove 821 of the jaw body 82, which can detect the clamping force in real time and feed back to the control mechanism 7, so as to avoid the bagged mortar from falling or the packaging bag from being damaged due to improper force, and improve the clamping stability. Secondly, the spring 825 outside the pressure rod 824 can provide buffering, further protect the packaging bag and reduce material loss. Thirdly, the cooperation of the sliding block 826, the sliding groove 827 and the first ball 828 reduces the moving friction of the jaw holding block 823, avoids the clamping jaw from being stuck, and improves the smoothness of the clamping jaw action without manual intervention and adjustment, and ensures the continuity of the full-automatic operation. At the same time, the complete component combination makes the device have the core grabbing capacity, lays a foundation for the subsequent moving and stacking links.

[0019] Referring to Figure 1 , Figure 4 and Figure 5The rotating mechanism 2 comprises a base 21, a motor compartment 22, a servo motor 23 and a rotating disc 24. The base 21 is arranged at the upper end of the rack 1. The motor compartment 22 is arranged inside the base 21. The servo motor 23 is fixedly connected inside the motor compartment 22. The output end of the servo motor 23 penetrates through the upper end of the base 21 and is fixedly connected with the lower surface of the rotating disc 24. The swing arm 3 is arranged at the upper end of the rotating disc 24. The upper surface of the base 21 is provided with a first sliding rail 25. The lower surface of the rotating disc 24 is provided with a second sliding rail 26 matched with the first sliding rail 25. A plurality of second balls 27 are rollingly connected inside the first sliding rail 25 and the second sliding rail 26. The second balls 27 are uniformly distributed inside the first sliding rail 25 and the second sliding rail 26. The composition and connection relationship of the rotating mechanism 2 are determined to provide stable and reliable rotating power for the swing arm 3. The base 21 provides fixed support for the rotating mechanism 2 to ensure the stability of the overall structure. The motor compartment 22 protects the servo motor 23 to avoid dust and impurities affecting the operation of the motor and prolonging the service life of the servo motor 23. The servo motor 23 directly drives the rotating disc 24 to rotate and drives the swing arm 3 to adjust the position. Compared with the traditional manual or semi-automatic adjustment mode, the response is faster and the position control is more accurate. No manual positioning is required to improve the efficiency and accuracy of the swing arm 3 in moving the bagged mortar and ensure the orderly progress of the discharging process. The first sliding rail 25, the second sliding rail 26 and the second ball 27 are added to optimize the rotating performance of the rotating mechanism 2. The matching structure of the first sliding rail 25 and the second sliding rail 26 provides guidance for the rotation of the rotating disc 24, avoids the deviation of the rotating disc 24 and ensures the stability of the rotating track of the swing arm 3. The plurality of second balls 27 inside the rotating disc 24 greatly reduce the friction resistance between the rotating disc 24 and the base 21, make the rotating disc 24 rotate more smoothly and save effort, reduce the operating load of the servo motor 23 and reduce energy consumption and component wear. The overall structure improves the operation stability and durability of the rotating mechanism 2, avoids the influence of rotating jam on the moving of the bagged mortar and ensures the long-term stable operation of the device.

[0020] Referring to Figure 1 , Figure 4 and Figure 7The upper surface of the rotating disc 24 is provided with an angle sensor 9 connected with the control mechanism 7 and used for detecting the rotating angle of the rotating disc 24, the conveying mechanism 4 comprises a conveying line 41 for conveying the bagged mortar and a feeding line 42 for conveying the bagged mortar to the conveying line 41, and the conveying line 41 is provided with multiple conveying lines in parallel; the feeding line 42 is connected with the dust removal mechanism 5, and the conveying line 41 is provided with multiple incoming material sensors 10 connected with the control mechanism 7 and used for positioning the position of the bagged mortar at intervals, the positioning accuracy of the swing arm 3 is further improved through the angle sensor 9: the angle sensor 9 detects the rotating angle of the rotating disc 24 in real time and feeds back to the control mechanism 7, the control mechanism 7 can accurately adjust the operation of the servo motor 23 according to the signal, so that the swing arm 3 can quickly and accurately move to the target position, avoiding the failure of grabbing or the confusion of stacking caused by the deviation of the rotating angle; compared with the structure without angle detection, manual observation and adjustment are not needed, human error is reduced, the automation degree and operation accuracy of the device are improved, the position of the bagged mortar is accurately transferred and stacked, the overall unloading efficiency is improved, the structure and function of the conveying mechanism 4 are clarified, and the problems of low conveying efficiency and difficult positioning of the traditional conveying are solved: first, the multiple parallel conveying lines 41 can convey multiple groups of bagged mortar at the same time, which greatly improves the conveying efficiency and meets the batch unloading demand; second, the feeding line 42 is connected with the dust removal mechanism 5, so that the bagged mortar can be simultaneously dusted during conveying, without the need for additional dust removal process, and the operation process is simplified; third, the incoming material sensor 10 on the conveying line 41 can position the position of the bagged mortar in real time and feed back to the control mechanism 7 to adjust the conveying speed, so as to avoid the bagged mortar from being stacked or having too large spacing, ensure the order of conveying, and improve the automation degree and efficiency of the conveying link, and provide accurate material position guarantee for the subsequent grabbing link.

[0021] Referring to Figure 1 , Figure 5 and Figure 6The detection mechanism 6 comprises two groups of detection device bodies 61, which are arranged at two sides of the work area of the discharging device; one group is a personnel detection device 611 for detecting whether there is personnel activity in the work area, and the other group is a stacking detection device 612 for detecting personnel activity and positioning the initial position of stacking; the personnel detection device 611 and the stacking detection device 612 both comprise infrared sensors, and the stacking detection device 612 further comprises a laser sensor; the control mechanism 7 comprises a control box 71, a control mainboard 72 arranged on the control box 71, and an external input device 73 connected with the control box 71 for setting the operation parameters of the device; the control mainboard 72 is electrically connected with the rotating mechanism 2, the swing arm 3, the clamping mechanism 8, the conveying mechanism 4, the dust removal mechanism 5 and the detection mechanism 6 respectively; the working surfaces of the first sliding rail 25 and the second sliding rail 26 are both provided with wear-resistant coatings; through the two groups of detection device bodies 61, the dual protection of work safety and orderly stacking is realized; the infrared sensor of the personnel detection device 611 monitors the personnel activity in the work area in real time, and immediately feeds back to the control mechanism 7 to stop the device once the personnel is detected, so as to avoid personnel from entering the dangerous area by mistake and protect the personal safety of the workers; the infrared sensor of the stacking detection device 612 also has a safety monitoring function, and the laser sensor thereof can accurately position the initial position of stacking, so as to provide accurate coordinates for the stacking of the swing arm 3 and avoid stacking deviation and confusion, without the need for manual marking of the stacking position or observation of the safety condition, which not only improves the work safety, but also guarantees the orderliness of stacking, meets the dual requirements of safety and efficiency for full-automatic work, clearly controls the structure and connection relationship of the control mechanism 7, provides core control ability for the device, and ensures the stable operation of the control core; the control mainboard 72 is electrically connected with each mechanism, can receive the signals of each sensor and output control instructions, realizes the collaborative control of all links such as rotation, grabbing, conveying and detection, and guarantees the synchronous operation of each part of the device; the external input device 73 is convenient for the operator to set the operation parameters, adapts to the discharging requirements of different specifications of bagged mortar, and improves the universality of the device; the overall structure enables the device to have complete full-automatic control ability, without the need for manual operation of each part, completely solves the problem of manual intervention of traditional manual and semi-automatic devices, greatly improves the work efficiency and automation level, the wear-resistant coating can reduce the wear of the working surface of the sliding rail, avoid the deformation and precision reduction of the sliding rail due to long-term rotation and friction, and prolong the service life of the first sliding rail 25 and the second sliding rail 26.

[0022] The implementation principle of the embodiment of the present application is as follows: before work, the operation parameters such as the conveying speed of bagged mortar, the clamping force threshold of the clamping jaw, and the stacking height are set through the external input device 73 connected with the control box 71 in the control mechanism 7, and the parameter signals are transmitted to the control mainboard 72 in the control box 71; the control mainboard 72 starts the rotating mechanism 2, the swing arm 3, the conveying mechanism 4, the dust removal mechanism 5, the detection mechanism 6 and the clamping mechanism 8, and the device enters the standby state; The bagged mortar is conveyed by the feeding line 42 of the conveying mechanism 4, the feeding line 42 drives the bagged mortar to pass through the dust removal mechanism 5, the dust removal mechanism 5 performs dust removal treatment on the surface of the bagged mortar; the bagged mortar after dust removal is conveyed to the conveying line 41 of the conveying mechanism 4 along the feeding line 42, because the conveying line 41 is provided with multiple conveying lines in parallel, multiple groups of bagged mortar can be received at the same time, and batch conveying is realized; after the bagged mortar enters the conveying line 41, the incoming material sensor 10 arranged at intervals on the conveying line 41 detects the position of the bagged mortar in real time, and transmits the position signal to the control mainboard 72 of the control mechanism 7; the control mainboard 72 adjusts the running speed of the conveying line 41 according to the signal of the incoming material sensor 10, so that the bagged mortar is orderly conveyed to the specified unloading position, and the situation of stacking or too large spacing is avoided; When the bagged mortar reaches the unloading position, the control mainboard 72 sends an instruction to the rotating mechanism 2, the servo motor 23 in the motor compartment 22 of the rotating mechanism 2 starts, the output end drives the rotating disc 24 to rotate, and the rotating disc 24 drives the swing arm 3 at the upper end to rotate synchronously; during the rotation of the rotating disc 24, the first sliding rail 25 on the upper surface of the base 21 cooperates with the second sliding rail 26 on the lower surface of the rotating disc 24 through the internal second ball 27, so as to reduce the rotation friction of the rotating disc 24; at the same time, the angle sensor 9 on the upper surface of the rotating disc 24 detects the rotation angle of the rotating disc 24 and transmits the angle signal to the control mainboard 72, and the control mainboard 72 adjusts the rotation speed of the servo motor 23 according to the signal, so that the swing arm 3 is accurately moved to the position directly above the bagged mortar; After the swing arm 3 is positioned, the control mainboard 72 controls the clamping mechanism 8 to start, and the clamping jaw cylinder 81 drives the clamping jaw body 82 to close through the output power; after the jaw holding block 823 of the clamping jaw body 82 contacts the bagged mortar, the jaw holding block 823 moves into the groove 821 at the working end of the jaw body, the pressure rod 824 inside the jaw holding block 823 extrudes the pressure sensor 822 inside the groove 821, and the pressure sensor 822 transmits the clamping force signal to the control mainboard 72; if the force does not reach the set threshold, the control mainboard 72 controls the clamping jaw cylinder 81 to increase the output force, and if the force exceeds the threshold, the control mainboard 72 controls the clamping jaw cylinder 81 to reduce the output force, and at the same time, the spring 825 in the groove 821 is compressed and buffered, so as to avoid that the force is too large to break the packaging bag; When the claw holding block 823 moves, the slider 826 at the inner side upper and lower end slides in the sliding groove 827 of the groove 821, the first ball 828 on the side close to the sliding groove 827 of the slider 826 reduces the sliding friction, and ensures smooth movement of the claw holding block 823, and finally the clamping jaw body 82 stably clamps the bagged mortar; after the clamping mechanism 8 clamps the bagged mortar, the swing arm 3 cooperates with the rotating mechanism 2 to move the bagged mortar to the stacking area; during the moving process, the two groups of detection device bodies 61 of the detection mechanism 6 work in real time: the personnel detection device 611 on both sides of the working area and the stacking detection device 612 detect whether there is personnel activity in the working area through infrared sensors, if personnel are detected, the signal is transmitted to the control mainboard 72, and the control mainboard 72 immediately controls the equipment to stop running; the laser sensor of the stacking detection device 612 positions the initial stacking position, transmits the position signal to the control mainboard 72, and the control mainboard 72 adjusts the swing angle of the swing arm 3 according to the signal, so that the bagged mortar is accurately placed at the initial position; After the initial position is filled with bagged mortar, the laser sensor transmits the full material signal to the control mainboard 72, the control mainboard 72 controls the swing arm 3 to adjust the swing angle, and the subsequent bagged mortar is arranged around the initial position in sequence; when the storage area is full in the horizontal direction, the control mainboard 72 controls the swing arm 3 to be lifted to a height, and the bagged mortar is stacked from the initial position to the height direction until the stacking height reaches the set value; after the stacking is completed, the clamping mechanism 8 releases the bagged mortar, the swing arm 3 and the rotating mechanism 2 are reset, the next group of bagged mortar on the conveying line 41 is clamped, the above process is repeated, and the full-automatic circulating unloading operation is realized.

Claims

1. A fully automatic bagged mortar feeding device, comprising a frame (1) for installing and supporting various components, a swing arm (3) for grabbing and transferring bagged mortar, a rotating mechanism (2) for driving the swing arm (3) to rotate and adjust its position, a conveying mechanism (4) for conveying bagged mortar, a dust removal mechanism (5) for removing dust from the bagged mortar, a detection mechanism (6) for detecting the status of the working area, a control mechanism (7) for controlling the operation of the equipment, and a clamping mechanism (8) for grabbing bagged mortar, characterized in that: The clamping mechanism (8) comprises a clamping jaw cylinder (81) for providing clamping power and a clamping jaw body (82) for directly contacting and grabbing the bagged mortar; The clamping jaw body (82) is provided with a groove (821) at each working end of the jaw body, a pressure sensor (822) is fixedly connected inside the groove (821) and connected with the control mechanism (7) for detecting the clamping force, a jaw holding block (823) is movably connected at the opening end of the groove (821), a pressure rod (824) is fixedly connected to the side of the jaw holding block (823) close to the inside of the groove (821), the pressure sensor (822) and the pressure rod (824) are sleeved with a spring (825), one end of the spring (825) is fixedly connected to the side of the pressure sensor (822) installed inside the groove (821), and the other end of the spring (825) is fixedly connected to the side of the jaw holding block (823) close to the inside of the groove (821); the jaw holding block (823) is fixedly connected with a sliding block (826) at the upper and lower ends of the side close to the inside of the groove (821), a sliding groove (827) matching the sliding block (826) is formed in the inside of the groove (821), and a first rolling ball (828) is rollingly connected to the inside of the sliding groove (827) close to the side of the sliding block (826).

2. The full-automatic bagged mortar discharging device according to claim 1, characterized in that: The rotating mechanism (2) comprises a base (21), a motor compartment (22), a servo motor (23) and a rotating disc (24), the base (21) is arranged at the upper end of the rack (1), the motor compartment (22) is formed in the inside of the base (21), the servo motor (23) is fixedly connected in the inside of the motor compartment (22), and the output end of the servo motor (23) penetrates through the upper end of the base (21) and is fixedly connected with the lower surface of the rotating disc (24); the swing arm (3) is arranged at the upper end of the rotating disc (24).

3. The full-automatic bagged mortar discharging device according to claim 2, characterized in that: A first sliding rail (25) is formed on the upper surface of the base (21), a second sliding rail (26) matching the first sliding rail (25) is formed on the lower surface of the rotating disc (24), and a second rolling ball (27) is rollingly connected in the inside of the first sliding rail (25) and the second sliding rail (26).

4. The full-automatic bagged mortar discharging device according to claim 3, characterized in that: An angle sensor (9) for connecting with the control mechanism (7) and detecting the rotating angle of the rotating disc (24) is arranged on the upper surface of the rotating disc (24).

5. The full-automatic bagged mortar discharging device according to claim 1, characterized in that: The conveying mechanism (4) comprises a conveying line (41) for conveying the bagged mortar and a feeding line (42) for conveying the bagged mortar to the conveying line (41), and a plurality of conveying lines (41) are arranged side by side; the feeding line (42) is connected with the dust removal mechanism (5), and a plurality of incoming material sensors (10) for positioning the position of the bagged mortar are arranged on the conveying line (41) at intervals and connected with the control mechanism (7).

6. The full-automatic bagged mortar discharging device according to claim 1, characterized in that: The detection mechanism (6) comprises two groups of detection device bodies (61), and the two groups of detection device bodies (61) are arranged on two sides of the working area of the blanking device respectively; one group is a personnel detection device (611) for detecting whether there is personnel activity in the working area, and the other group is a stacking detection device (612) for detecting personnel activity and positioning the initial position of stacking; the personnel detection device (611) and the stacking detection device (612) both comprise an infrared sensor, and the stacking detection device (612) further comprises a laser sensor.

7. The full-automatic bagged mortar discharging device according to claim 1, characterized in that: The control mechanism (7) comprises a control box (71), a control mainboard (72) arranged on the control box (71), and an external input device (73) connected with the control box (71) and used for setting the operation parameters of the equipment; the control mainboard (72) is electrically connected with the rotating mechanism (2), the swing arm (3), the clamping mechanism (8), the conveying mechanism (4), the dust removal mechanism (5) and the detection mechanism (6) respectively.

8. The full-automatic bagged mortar discharging device according to claim 3, characterized in that: The working surfaces of the first sliding rail (25) and the second sliding rail (26) are both provided with wear-resistant coating.

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