Partitioned stacking and transferring device for ton-bag raw materials of plastic particles

Abstract

The application discloses a kind of plastic granule ton bag raw material partition stacking transfer device, belong to material handling and warehousing stacking technical field, solve the ton bag unhooking difficult of traditional stacking device, and the problem of easy scratch displacement.The device includes parallelly erected sliding guide and sliding seat, sliding seat between being equipped with I-shaped guide rail and intelligent trolley, mechanical arm and self-unloading hook are installed below trolley.Self-unloading hook is linked through driving connecting rod and self-unloading mechanism, flange sleeve, fixed sleeve, pressure spring, lifting sleeve and lifting pull rod are built-in in self-unloading mechanism, rely on the cooperation of triangular tooth groove, limit groove, inclined boss and arc boss, realize periodic locking and unlocking of hook using ton bag dead weight: first hoisting automatic locking is completed handling, second hoisting automatic unlocking realizes unhooking.The device is pure mechanical passive type automatic unhooking, does not need electric control element, and reliability is high, can effectively avoid ton bag lifting lug scratch displacement, is suitable for the partition stacking operation of plastic granule and other bulk material ton bag.

Description

Technical Field

[0001] This invention relates to the field of stacking equipment technology, and in particular to a zoned stacking and transfer device for ton bags of plastic granules. Background Technology

[0002] In industries such as plastics processing and chemical raw material production, plastic granules are typically packaged and transported in ton bags. Within production workshops and storage areas, incoming ton bags of raw materials need to be stacked and stored according to category and batch, and then transferred to the feeding stations as needed for production.

[0003] Existing ton bag stacking and transfer devices mostly employ overhead cranes or gantry robots in conjunction with hook structures, using hooks to engage lifting lugs on the top of the ton bags for lifting and transport. However, in actual operation, the following shortcomings exist: First, ton bags are flexible bags, and the lifting lugs are prone to collapse and deformation under the pull of gravity. When the ton bag is placed in position, the hook and lifting lug can easily become stuck, making it difficult to detach smoothly. Second, when forcibly lifting and detaching, the hook may scrape against the lifting lug, causing the stacked ton bags to shift or even tip over, affecting stacking stability and operational safety. Third, some detachment devices rely on electrically controlled actuators such as cylinders and electromagnets, which have a high failure rate and high maintenance costs in dusty and humid storage environments, making them difficult to adapt to the needs of continuous, zoned stacking and transfer operations. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that existing ton bag stacking and transfer devices are difficult to unhook, are prone to scratches leading to ton bag displacement, and have insufficient reliability of electronically controlled unhooking devices. To address this, we propose a zoned stacking and transfer device for ton bags of plastic granules.

[0005] To achieve the above objectives, this application adopts the following technical solution: A partitioned stacking and transfer device for ton bags of plastic granules includes two parallel sliding guide rails, which are mounted above the stacking area via columns. Each sliding guide rail has a sliding seat slidably connected to it. Two parallel I-shaped guide rails are installed between the two sliding seats. A smart trolley that can move along the I-shaped guide rails is mounted on the I-shaped guide rails. A robotic arm is installed below the smart trolley. A self-unloading hook is provided at the lower end of the robotic arm. One end of the self-unloading hook is hinged to the robotic arm, and the middle part is hinged to a drive linkage. A self-unloading mechanism is fixedly connected to the lower end of the robotic arm, and the drive linkage is rotatably connected to the self-unloading mechanism. The self-unloading mechanism includes a flange sleeve, a fixed sleeve, a pressure spring, a lifting sleeve, and a lifting rod. The flange sleeve is fixed to the lower end of the robotic arm. The fixed sleeve is coaxially fixed inside the flange sleeve. The pressure spring and the lifting sleeve are both placed inside the fixed sleeve, with the lifting sleeve located above the pressure spring. The lifting rod passes through the lifting sleeve and the fixed sleeve axially, and a rotating connecting rod is fixed to its lower end. The lower end of the rotating connecting rod is hinged to a connecting rod, and the connecting rod is hinged to the drive connecting rod. The flange sleeve and the fixed sleeve, as well as the fixed sleeve and the lifting sleeve, are fitted in a manner that allows only relative sliding along the axial direction and is circumferentially locked. The lifting rod and the lifting sleeve are fitted in a manner that allows relative rotation and axial sliding. The upper end face of the fixed sleeve is provided with six circumferentially distributed triangular toothed grooves, and three circumferentially distributed limiting grooves are also provided on its upper part. The upper end of each limiting groove is connected to the bottom of a triangular toothed groove, and the lower end is connected to the middle of the fixed sleeve. The lifting rod is provided with three circumferentially distributed inclined protrusions, and the lower end face of the inclined protrusions can engage with the triangular toothed grooves. The upper part of the lifting sleeve is provided with six circumferentially distributed arc-shaped protrusions. The upper end face of the arc-shaped protrusions is arc-shaped, so that the upper end face of the lifting sleeve is wavy. The upper end face is in contact with the lower end face of the inclined protrusions.

[0006] Furthermore, a rack is fixedly mounted parallel to one side of each sliding guide rail, and a drive motor is fixedly mounted on the sliding seat. The output shaft of the drive motor is fixedly connected to a gear, which meshes with the corresponding rack.

[0007] Furthermore, the robotic arm includes a first robotic arm, a connecting block, a second robotic arm, and a hydraulic cylinder. The lower end of the first robotic arm is rotatably connected to the connecting block, and the lower end of the connecting block is rotatably connected to the second robotic arm. The two ends of the hydraulic cylinder are respectively hinged to the first robotic arm and the second robotic arm. The lower end of the second robotic arm is rotatably connected to a hook seat, and one end of the self-unloading hook is hinged to the hook seat.

[0008] Furthermore, the first robotic arm consists of four first links, with two first links on the same side forming a parallelogram mechanism; the second robotic arm consists of four second links, with two second links on the same side forming a parallelogram mechanism, so that the bearing plane of the hook seat is always parallel to the mounting reference plane of the intelligent vehicle.

[0009] Furthermore, the inner wall of the flange sleeve is provided with three axially extending sliding protrusions, and the outer wall of the fixed sleeve is provided with three axially extending external sliding grooves. Each sliding protrusion is respectively fitted into the corresponding external sliding groove to form a sliding fit, thereby restricting the circumferential rotation of the fixed sleeve.

[0010] Furthermore, the inner wall of the fixed sleeve is provided with three axially extending inner sliding grooves, and among the six arc-shaped protrusions on the outer wall of the lifting sleeve, three arc-shaped protrusions spaced 120° apart are respectively fitted into the corresponding inner sliding grooves and form a sliding fit to restrict the circumferential rotation of the lifting sleeve.

[0011] Furthermore, the inner hole of the fixed sleeve is a stepped hole, and the pressure spring is a cylindrical helical compression spring, with its lower end abutting against the stepped surface of the stepped hole and its upper end abutting against the lower end face of the lifting sleeve.

[0012] Furthermore, the width of the limiting groove is greater than the circumferential width of the inclined protrusion, so that the inclined protrusion can slide freely along the axial direction of the limiting groove.

[0013] Furthermore, the lower end of the rotating connecting rod is rotatably connected to the connecting tie rod via a spherical bearing.

[0014] Furthermore, a position sensor is installed at the lower end of the robotic arm or on the hook base to detect the swing position of the self-unloading hook.

[0015] The technical effects and advantages of this invention are as follows: 1. This device adopts a purely mechanical passive self-unloading mechanism. Relying on the alternating action of the ton bag's own weight and spring force, it realizes the periodic locking and automatic unlocking of the self-unloading hook. The first lifting automatically locks to complete the handling, and the second lifting automatically unlocks to achieve unhooking. It does not require cylinders, electromagnets or other electrically controlled actuators. The structure is simple and reliable, suitable for dusty and humid storage environments, with low failure rate and low maintenance cost.

[0016] 2. The automatic unhooking process of this device relies on the precise cooperation of triangular tooth groove, limiting groove, inclined protrusion and arc-shaped protrusion. The unhooking action is smooth and controllable, which can avoid the problem of scraping the lifting lug when the traditional hook is forcibly unhooked. It effectively prevents the stacked ton bags from shifting or tipping over, and improves the stability of stacking and the safety of operation.

[0017] 3. The self-unloading mechanism of this device has a high degree of integration and can be directly mounted on existing robotic arms or the end of a crane, making it highly adaptable to modification; the parallelogram robotic arm ensures that the hook seat is always horizontal, and the ton bag is stable in posture during the lifting process, making it less prone to shaking and tipping. Attached Figure Description

[0018] The disclosure of this invention is illustrated with reference to the accompanying drawings. It should be understood that the drawings are for illustrative purposes only and are not intended to limit the scope of protection of this invention. In the drawings, the same reference numerals are used to refer to the same parts: Figure 1 This is a schematic diagram of the external structure of the present invention; Figure 2 For the present invention Figure 1 Enlarged structural diagram at point A in the middle; Figure 3 This is a schematic diagram of the robotic arm structure of the present invention; Figure 4 This is a front view schematic diagram of the robotic arm structure of the present invention; Figure 5 This is a schematic diagram of the self-unloading hook structure of the present invention; Figure 6 This is a schematic diagram of the self-unloading hook locking state structure of the present invention; Figure 7 This is a schematic diagram of the unlocked state structure of the self-unloading hook of the present invention; Figure 8 This is an exploded view of the self-unloading mechanism of the present invention; Figure 9 This is a cross-sectional view of the self-unloading mechanism of the present invention; Figure 10 This is a schematic diagram of the self-unloading mechanism in the locked state of the present invention; Figure 11 This is a schematic diagram of the unlocked state structure of the self-unloading mechanism of the present invention.

[0019] Legend: 1. Sliding guide rail; 2. Sliding seat; 3. Rack; 4. Drive motor; 5. Gear; 6. I-beam guide rail; 7. Intelligent car; 8. Robotic arm; 801. First robotic arm; 802. Connecting block; 803. Second robotic arm; 804. Hydraulic cylinder; 805. Hook seat; 806. First connecting rod; 807. Second connecting rod; 9. Self-unloading hook; 901. First rotating shaft; 902. Second rotating shaft. 10. Drive shaft; 11. Drive linkage; 12. Self-unloading mechanism; 13. Flange sleeve; 14. Sliding convex strip; 15. Fixed sleeve; 16. Outer groove; 17. Inner groove; 18. Triangular tooth groove; 19. Limiting groove; 10. Pressure spring; 11. Lifting sleeve; 12. Arc-shaped protrusion; 19. Lifting rod; 10. Inclined protrusion; 10. Rotating connecting rod; 11. Connecting rod. Detailed Implementation

[0020] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of this application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following drawings indicate similar items; therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0021] Example 1

[0022] This embodiment is a basic implementation of the present invention, which fully discloses the overall structure and complete working process of the partitioned stacking and transfer device for ton bags of plastic granules raw materials, and is suitable for partitioned stacking and transfer scenarios of ton bags of raw materials in small and medium-sized plastic processing workshops.

[0023] like Figures 1 to 11 As shown, a zoned stacking and transfer device for ton bags of plastic granules includes two parallel sliding guide rails 1, which are erected above the stacking area via columns to form an X-axis traveling track. The sliding guide rails 1 are made of I-beam profiles with rust-proof treatment, and the span of a single rail is set to 8-15m depending on the width of the stacking area. Each sliding guide rail 1 is slidably connected to a sliding seat 2, and a roller assembly is installed on the inner side of the sliding seat 2, which rolls in cooperation with the upper and lower flanges of the sliding guide rail 1 for smooth movement. Two parallel I-beam guide rails 6 are erected between the two sliding seats 2 to form a Y-axis traveling track, and the I-beam guide rails 6 are arranged perpendicularly to the sliding guide rails 1.

[0024] Each sliding guide rail 1 has a rack 3 fixedly mounted on one side in parallel. A drive motor 4 is fixedly mounted on the sliding seat 2. The drive motor 4 is a reduction brake motor. A gear 5 is fixedly connected to the output shaft. The gear 5 meshes with the corresponding rack 3. When the drive motor 4 is running, it drives the gear 5 to roll along the rack 3, thereby driving the sliding seat 2 to move along the sliding guide rail 1 and realize X-axis displacement.

[0025] An intelligent trolley 7 is mounted on the I-shaped guide rail 6, which can move along it. The intelligent trolley 7 has built-in driving wheels and encoders, and can move precisely along the I-shaped guide rail 6 to achieve Y-axis displacement. A robotic arm 8 is installed below the intelligent trolley 7. The lower end of the robotic arm 8 is equipped with a self-unloading hook 9. The extension and retraction of the robotic arm 8 realizes Z-axis lifting. The three work together to complete the three-degree-of-freedom ton bag transfer operation in the stacking area.

[0026] The robotic arm 8 includes a first robotic arm 801, a connecting block 802, a second robotic arm 803, and a hydraulic cylinder 804. The upper end of the first robotic arm 801 is hinged to the bottom mounting base of the intelligent vehicle 7, and the lower end is rotatably connected to the connecting block 802. The lower end of the connecting block 802 is rotatably connected to the second robotic arm 803. The two ends of the hydraulic cylinder 804 are respectively hinged to the first robotic arm 801 and the second robotic arm 803. The extension and retraction of the hydraulic cylinder 804 drives the robotic arm to extend and retract, realizing the lifting action. The lower end of the second robotic arm 803 is rotatably connected to a hook seat 805, and one end of the self-unloading hook 9 is hinged to the hook seat 805.

[0027] The first robotic arm 801 consists of four first links 806, with two first links 806 on the same side forming a parallelogram mechanism; the second robotic arm 803 consists of four second links 807, with two second links 807 on the same side forming a parallelogram mechanism. The double parallelogram structure ensures that the bearing plane of the hook seat 805 is always parallel to the installation reference plane of the intelligent trolley 7, that is, it always remains horizontal, and the ton bag is stable in posture during the lifting process and is not prone to tilting or swaying.

[0028] One end of the self-unloading hook 9 is hinged to the hook seat 805, and the middle part is hinged to a drive link 10; the lower end of the hook seat 805 is fixedly connected to the self-unloading mechanism 11, and the drive link 10 is rotatably connected to the self-unloading mechanism 11; the self-unloading mechanism 11 drives the self-unloading hook 9 to swing around the hinge point through the drive link 10, so as to lock and unlock the hook.

[0029] The self-unloading mechanism 11 includes a flange sleeve 12, a fixed sleeve 13, a pressure spring 14, a lifting sleeve 15, and a lifting rod 16. The flange sleeve 12 is fixed to the lower end face of the hook seat 805 through a top flange. The fixed sleeve 13 is coaxially fixed inside the flange sleeve 12. The inner wall of the flange sleeve 12 is provided with three axially extending sliding protrusions 1201. The outer wall of the fixed sleeve 13 is provided with three axially extending outer sliding grooves 1301. Each sliding protrusion 1201 is respectively fitted into the corresponding outer sliding groove 1301 and forms a sliding fit, restricting the circumferential rotation of the fixed sleeve 13 and only allowing axial relative sliding.

[0030] The pressure spring 14 and the lifting sleeve 15 are both placed inside the fixed sleeve 13, with the lifting sleeve 15 located above the pressure spring 14. The inner hole of the fixed sleeve 13 is a stepped hole. The pressure spring 14 is a cylindrical helical compression spring made of 65Mn spring steel. Its lower end abuts against the stepped surface of the stepped hole, and its upper end abuts against the lower end face of the lifting sleeve 15, always providing an upward elastic force to the lifting sleeve 15.

[0031] The inner wall of the fixed sleeve 13 has three axially extending inner sliding grooves 1302, and the outer wall of the lifting sleeve 15 has six circumferentially distributed arc-shaped protrusions 1501. Among them, the three arc-shaped protrusions 1501 that are 120° apart are respectively fitted into the corresponding inner sliding grooves 1302 and form a sliding fit, which restricts the circumferential rotation of the lifting sleeve 15 and only allows it to slide along the axial direction.

[0032] The lifting rod 16 passes axially through the lifting sleeve 15 and the fixed sleeve 13, and its lower end is fixedly connected to a rotating connecting rod 17. The lower end of the rotating connecting rod 17 is hinged to a connecting rod 18, which is hinged to the drive connecting rod 10. The lower end of the rotating connecting rod 17 is rotatably connected to the connecting rod 18 through a ball joint, which can accommodate swinging in multiple directions and avoid motion interference. The lifting rod 16 and the lifting sleeve 15 are engaged in a manner that allows them to rotate relative to each other and slide axially.

[0033] The upper end face of the fixed sleeve 13 is provided with six circumferentially distributed triangular toothed grooves 1303, and three circumferentially distributed limiting grooves 1304 are also provided on its upper part. The upper end of each limiting groove 1304 is connected to the bottom of a triangular toothed groove 1303, and the lower end is connected to the middle of the fixed sleeve 13. The groove width of the limiting groove 1304 is greater than the circumferential width of the inclined protrusion 1601, so that the inclined protrusion 1601 can slide freely along the axial direction of the limiting groove 1304.

[0034] The upper outer wall of the lifting rod 16 is provided with three circumferentially distributed inclined protrusions 1601. The lower end face of the inclined protrusion 1601 is inclined and can mesh with the triangular tooth groove 1303. The upper end face of the six arc-shaped protrusions 1501 on the upper part of the lifting sleeve 15 is arc-shaped, so that the upper end face of the lifting sleeve 15 is wavy. The upper end face always keeps in contact with the lower end face of the inclined protrusion 1601.

[0035] The hook seat 805 is also equipped with a position sensor, which is a proximity photoelectric sensor, to detect the swing position of the self-unloading hook 9 and provide feedback on the locking and unhooking status, so that the control system can judge the progress of the operation.

[0036] The complete workflow of this embodiment is as follows: S1. Initial preparation state: The pressure spring 14 pushes the lifting sleeve 15 upward. The lifting sleeve 15 pushes the inclined protrusion 1601 of the lifting rod 16 through the arc-shaped protrusion 1501, so that the lifting rod 16 is in the upper limit position. When the lifting rod 16 rises, it pulls the drive link 10 through the rotating connecting rod 17 and the connecting rod 18, causing the self-unloading hook 9 to swing upward to the horizontal preparation position, with the hook opening facing upward, waiting to hook the ton bag lifting lug. At this time, the inclined protrusion 1601 is located above the triangular tooth groove 1303 and has not yet engaged.

[0037] S2. Lifting and Locking: The robotic arm 8 descends, and the self-unloading hook 9 engages with the ton bag lifting lug. Subsequently, the robotic arm 8 rises, lifting the ton bag. The ton bag's own weight pulls the self-unloading hook 9 downwards through the lifting lug, which in turn pulls down the lifting rod 16. As the lifting rod 16 descends, the lower inclined surface of the tilting protrusion 1601 slides into and engages with the triangular tooth groove 1303. Due to the obstruction of the side wall of the triangular tooth groove 1303, the lifting rod 16 cannot descend further, and the self-unloading hook 9 is locked in the horizontal bearing position, thus stably lifting the ton bag. The intelligent trolley, in conjunction with the sliding seat, moves to transport the ton bag to the target stacking area.

[0038] S3. Positioning and Reset: After the ton bag is moved into position, the robotic arm 8 descends and places the ton bag in the stacking position. After the ton bag lands, it no longer applies tension to the lifting rod 16. The pressure spring 14 pushes the lifting sleeve 15 upward again. The arc-shaped protrusion 1501 at the upper end of the lifting sleeve 15 pushes the inclined protrusion 1601 upward. As the upper arc surface of the arc-shaped protrusion 1501 and the lower inclined surface of the inclined protrusion 1601 slide relative to each other, the inclined protrusion 1601 is subjected to the circumferential component force, which drives the lifting rod 16 to rotate one tooth position, so that the lower end surface of the inclined protrusion 1601 naturally slides to the recess of the wavy end surface at the upper end of the lifting sleeve 15. The lifting rod 16 rotates to be directly above the adjacent triangular tooth groove 1303. The bottom of the adjacent triangular tooth groove 1303 is connected to the limiting groove 1304.

[0039] S4. Secondary lifting, unlocking, and unhooking: The robotic arm 8 rises again. At this time, the lifting lugs droop due to their own weight and pull down the self-unloading hook 9, which in turn pulls down the lifting rod 16. Since the inclined protrusion 1601 is aligned with the triangular toothed groove 1303 that is connected to the limiting groove 1304, when the lifting rod 16 moves down, the inclined protrusion 1601 falls directly into the limiting groove 1304 and can continue to slide down along the limiting groove 1304 without being locked by the toothed groove. The lifting rod 16 continues to descend, and through the linkage transmission, it drives the self-unloading hook 9 to swing down to the disengagement position, automatically disengaging from the ton bag lifting lugs and completing the unhooking.

[0040] S5. Cyclic Reset: After the unhooking is completed, the pressure spring 14 pushes the lifting sleeve 15 to rise again, the lifting sleeve 15 pushes the lifting rod 16 to rise again, and through the sliding cooperation between the arc surface of the arc-shaped protrusion 1501 and the inclined surface of the inclined protrusion 1601, the inclined protrusion 1601 rotates one tooth position again, returning to the position corresponding to the triangular tooth groove 1303 of the non-connected limit groove, and enters the next locking cycle, waiting for the next ton bag handling operation.

[0041] Example 2

[0042] Based on Example 1, this embodiment optimizes the load-bearing capacity of the robotic arm and the wear resistance of the self-unloading mechanism to meet the needs of large-tonnage, high-frequency plastic granule ton bag stacking operations, further improving the heavy-load reliability and service life of the device. It is suitable for raw material storage and zoning stacking scenarios in large plastic and chemical enterprises.

[0043] In this embodiment, both the sliding guide rail 1 and the I-beam guide rail 6 are made of heavy-duty I-beam steel. The roller assembly of the sliding seat 2 is increased to an eight-wheel structure, and the walking load capacity is increased to 2 tons, which can be adapted to large heavy-duty plastic granule ton bags with a specification of 1000-1500kg. The drive motor 4 adopts a servo motor with a planetary reducer, and the positioning accuracy can reach ±5mm. It supports multi-zone precise stacking and realizes refined zone management according to raw material grade and batch.

[0044] The linkage structure of the robotic arm 8 is made of high-strength alloy steel forging and the surface is heat treated. The hydraulic cylinder 804 is added as a double cylinder symmetrical arrangement to improve the stability and load-bearing capacity of the lifting process. The hook seat 805 adopts a cast steel one-piece molding structure. The self-unloading hook 9 is made of forged alloy steel. The hook bearing surface is overlaid with a wear-resistant alloy layer to improve wear resistance and extend service life.

[0045] The core moving parts of the self-unloading mechanism 11 are reinforced for wear resistance: the triangular tooth groove 1303 and the limiting groove 1304 of the fixed sleeve 13 are carburized and quenched to achieve a surface hardness of HRC55 or higher; the inclined protrusion 1601 of the lifting rod 16 is coated with a wear-resistant ceramic coating to reduce the coefficient of friction and improve the fatigue wear resistance; the arc-shaped protrusion 1501 of the lifting sleeve 15 adopts an embedded wear-resistant alloy block structure, which can be replaced individually after wear, reducing maintenance costs.

[0046] The pressure spring 14 is made of chromium vanadium alloy steel, which improves fatigue resistance and has a design life of no less than 100,000 cycles. A guide copper sleeve is added inside the fixed sleeve 13, and a self-lubricating bushing is added to the sliding mating surface between the lifting rod 16 and the lifting sleeve 15 to reduce motion friction resistance, ensure sensitive and reliable unhooking action, and adapt to high-frequency continuous operation.

[0047] Meanwhile, in this embodiment, a visual positioning camera is added to the intelligent vehicle 7, which can automatically identify the position of the ton bag lifting lug and the stacking zone markings, guide the self-unloading hook 9 to be accurately aligned, and realize unmanned automatic stacking operation. The hook seat 805 is equipped with a weighing sensor, which can monitor the weight of the ton bag in real time. Combined with the zone management system, it can automatically count the inventory tonnage of each zone and improve the level of intelligent warehouse management.

[0048] Example 3

[0049] Based on Example 1, this embodiment is optimized for modularization and multi-scenario adaptation. The guide rail span and workstation configuration can be flexibly adjusted according to the size of the storage area. At the same time, it can adapt to the needs of various specifications of ton bags and different materials for zoned stacking and transfer, thereby improving the versatility of the device.

[0050] In this embodiment, the sliding guide rail 1 adopts a standard segment splicing structure, with each segment being 2m or 3m in length. It can be flexibly spliced ​​and assembled according to the length of the stacking area. The height of the column can also be adjusted by flange connection to adapt to warehouse workshops with different floor heights. The I-shaped guide rail 6 also adopts a modular design, and the Y-axis travel can be adjusted by increasing or decreasing the guide rail length to adapt to different width partition layouts.

[0051] The self-unloading hook 9 features a quick-change structure, hinged to the hook seat 805 via a pin. Pulling out the pin allows for quick replacement of hooks of different specifications, accommodating lifting lug sizes for 0.5-ton, 1-ton, and 1.5-ton load bags. One unit can serve various sizes of raw material ton bags. Anti-slip protrusions are provided at the hook ends to prevent accidental slippage of the lifting lug during lifting, improving operational safety.

[0052] In this embodiment, a rotating mechanism is added to the bottom of the intelligent vehicle 7, and the robotic arm 8 can rotate 360° around the vertical axis, further expanding the operation coverage area and supporting the partitioned arrangement of irregularly shaped stacking areas. The rotating mechanism has a built-in angle encoder, which, together with the partition management system, can achieve multi-directional precise stacking.

[0053] Meanwhile, the control system of this device has reserved a multi-machine linkage interface, and multiple sets of devices can work together to be responsible for the transfer of ton bags in different zones. It supports multiple operation modes such as warehousing, outbound, and transfer. The device has a high degree of modularity and is easy to install. It can flexibly adapt to the needs of ton bag stacking and transfer of plastic granules in all scenarios, from small processing workshops to large storage centers.

[0054] The above are merely embodiments of this application and are not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A zoned stacking and transfer device for ton bags of plastic granules, comprising two parallel sliding guide rails mounted above a stacking area via columns, each sliding guide rail having a sliding seat slidably connected to it, and two parallel I-beam guide rails between the two sliding seats. A smart trolley capable of moving along the I-beam guide rails is mounted on the I-beam guide rails, and a robotic arm is mounted below the smart trolley, with a self-unloading hook at its lower end; characterized in that… One end of the self-unloading hook is hinged to the robotic arm, and the middle part is hinged to a drive link; a self-unloading mechanism is fixedly connected to the lower end of the robotic arm, and the drive link is rotatably connected to the self-unloading mechanism; The self-unloading mechanism includes a flange sleeve, a fixed sleeve, a pressure spring, a lifting sleeve, and a lifting rod. The flange sleeve is fixedly connected to the lower end of the robotic arm. The fixed sleeve is coaxially fixed inside the flange sleeve. The pressure spring and the lifting sleeve are both placed inside the fixed sleeve, with the lifting sleeve located above the pressure spring. The lifting rod passes through the lifting sleeve and the fixed sleeve axially, and a rotating connecting rod is fixedly connected to its lower end. The lower end of the rotating connecting rod is hinged to a connecting rod, and the connecting rod is hinged to the drive connecting rod. The flange sleeve and the fixed sleeve, as well as the fixed sleeve and the lifting sleeve, are fitted together in a manner that allows relative sliding only along the axial direction and is circumferentially locked. The lifting rod and the lifting sleeve are fitted together in a manner that allows relative rotation and axial sliding. The upper end face of the fixed sleeve is provided with six circumferentially distributed triangular toothed grooves, and three circumferentially distributed limiting grooves are also provided on its upper part. The upper end of each limiting groove is connected to the bottom of a triangular toothed groove, and the lower end is connected to the middle of the fixed sleeve. The lifting rod is provided with three circumferentially distributed inclined protrusions, and the lower end face of the inclined protrusions can engage with the triangular toothed grooves. The upper part of the lifting sleeve is provided with six circumferentially distributed arc-shaped protrusions. The upper end face of the arc-shaped protrusions is arc-shaped, so that the upper end face of the lifting sleeve is wavy, and the upper end face is in contact with the lower end face of the inclined protrusions.

2. The partitioned stacking and transfer device for ton bags of plastic granules according to claim 1, characterized in that, Each of the sliding guide rails has a rack fixedly mounted on one side in parallel. A drive motor is fixedly mounted on the sliding seat. A gear is fixedly connected to the output shaft of the drive motor, and the gear meshes with the corresponding rack.

3. The partitioned stacking and transfer device for plastic granule ton bag raw materials according to claim 1, characterized in that, The robotic arm includes a first robotic arm, a connecting block, a second robotic arm, and a hydraulic cylinder. The lower end of the first robotic arm is rotatably connected to the connecting block, and the lower end of the connecting block is rotatably connected to the second robotic arm. The two ends of the hydraulic cylinder are respectively hinged to the first robotic arm and the second robotic arm. The lower end of the second robotic arm is rotatably connected to a hook seat, and one end of the self-unloading hook is hinged to the hook seat.

4. The partitioned stacking and transfer device for ton bags of plastic granules according to claim 3, characterized in that, The first robotic arm consists of four first links, with two first links on the same side forming a parallelogram mechanism; the second robotic arm consists of four second links, with two second links on the same side forming a parallelogram mechanism, so that the bearing plane of the hook seat is always parallel to the mounting reference plane of the intelligent vehicle.

5. The partitioned stacking and transfer device for ton bags of plastic granules according to claim 1, characterized in that, The inner wall of the flange sleeve is provided with three axially extending sliding protrusions, and the outer wall of the fixed sleeve is provided with three axially extending outer sliding grooves. Each of the sliding protrusions is respectively fitted into the corresponding outer sliding groove to form a sliding fit, thereby restricting the circumferential rotation of the fixed sleeve.

6. The partitioned stacking and transfer device for plastic granule ton bag raw materials according to claim 1, characterized in that, The inner wall of the fixed sleeve has three axially extending inner sliding grooves. Among the six arc-shaped protrusions on the outer wall of the lifting sleeve, three arc-shaped protrusions spaced 120° apart are respectively fitted into the corresponding inner sliding grooves and form a sliding fit to restrict the circumferential rotation of the lifting sleeve.

7. The partitioned stacking and transfer device for ton bags of plastic granules according to claim 1, characterized in that, The inner hole of the fixed sleeve is a stepped hole, and the pressure spring is a cylindrical helical compression spring, with its lower end abutting against the stepped surface of the stepped hole and its upper end abutting against the lower end face of the lifting sleeve.

8. The partitioned stacking and transfer device for plastic granule ton bag raw materials according to claim 1, characterized in that, The width of the limiting groove is greater than the circumferential width of the inclined protrusion, so that the inclined protrusion can slide freely along the axial direction of the limiting groove.

9. The partitioned stacking and transfer device for ton bags of plastic granules according to claim 1, characterized in that, The lower end of the rotating connecting rod is rotatably connected to the connecting tie rod via a spherical bearing.

10. The partitioned stacking and transfer device for ton bags of plastic granules according to claim 3, characterized in that, A position sensor is provided at the lower end of the robotic arm or on the hook seat to detect the swing position of the self-unloading hook.

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