Bagging car loader based on mechanical arm mechanism

Abstract

The utility model relates to a bag falling car loader based on a mechanical arm mechanism, and belongs to car loading equipment. According to the technical scheme, the bag falling and stacking device comprises a bag falling and stacking machine table, a mechanical arm and a conveyor, and is characterized in that a swing arm is arranged at the front end of the mechanical arm and is in a horizontal swing state, the rear end of the mechanical arm is arranged on a moving vehicle, a buffer conveyor is arranged at the front end of the swing arm, and a swing conveyor front fixing frame is arranged on the rear portion of the buffer conveyor; a front fixing frame of the swing conveyor is provided with a universal rotating frame, the universal rotating frame has two rotational degrees of freedom, the rotating end of the universal rotating frame is connected with the front end of a rack of the swing conveyor, the rear end of the rack of the swing conveyor is connected with the telescopic conveyor, and the swing conveyor and the buffer conveyor are connected front and back. The falling bag stacking mechanism and the conveyor are effectively connected through the mechanical arm, front end swinging of the conveyor is matched with the falling bag stacking mechanism, fast bag stacking and loading of bagged goods are achieved, and the loading efficiency is improved.

Description

Technical Field

[0001] The utility model relates to a bag-dropping vehicle loading machine based on a mechanical arm mechanism, belonging to vehicle loading equipment. Background Art

[0002] The difficulty in quickly loading open-top trucks lies in the small space inside the truck compartment, which makes it difficult for existing automated loading robots to operate.

[0003] The use of lifting structures and loading manipulators to load vehicles in carriages has become a development trend. However, the movement of manipulators in the carriage requires more sensor equipment to track and monitor the position at any time to avoid collision with the carriage, which is not efficient.

[0004] The patented "bag cargo dropping buffer device" (hereinafter referred to as the bag dropping and stacking platform) patent number 202223057556.3, is a mechanism for stacking bags by adjusting the falling direction of bagged goods. The bagged goods fall under their own weight, and then the direction of the falling goods is controlled to achieve the stacking purpose.

[0005] The above patent is currently suitable for rapid swing palletizing of bags, and can be quickly loaded with a conveyor. However, the multi-directional movement of the conveyor lacks a suitable motion drive device. It is difficult for the conveyor to rotate at a small angle in the carriage, and there is still an interference problem. There are problems in the combined use of the conveyor and the above bag drop palletizing platform. Summary of the invention

[0006] The invention provides a bag-dropping and loading machine based on a mechanical arm mechanism, which solves the problem of combining a bag-dropping and stacking platform with a conveyor.

[0007] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0008] A bagging and loading machine based on a mechanical arm mechanism comprises a bagging and stacking machine platform, a mechanical arm and a conveyor, wherein the front end of the mechanical arm is provided with a swing arm, the swing arm is in a horizontal swinging state, and the rear end of the mechanical arm is arranged on a mobile vehicle.

[0009] A buffer conveyor is provided at the front end of the swing arm, a front fixed frame of the swing conveyor is provided at the rear of the buffer conveyor, a universal rotating frame is provided on the front fixed frame of the swing conveyor, the universal rotating frame has two rotational degrees of freedom, and the rotation centers of the two rotational degrees of freedom are vertical, the rotating end of the universal rotating frame is connected to the front end of the frame of the swing conveyor, the rear end of the frame of the swing conveyor is connected to the telescopic conveyor, the swing conveyor and the buffer conveyor are connected front and back, and the front end of the buffer conveyor is provided with the bag dropping and stacking machine platform.

[0010] According to the bag dropping and loading machine based on the mechanical arm mechanism described in the right, the bag dropping and stacking machine platform and the buffer conveyor are an integrated structure, the frame of the buffer conveyor is fixed to the front end of the swing arm, the bag dropping and stacking machine platform is provided with a feed port, and the front end of the buffer conveyor is connected to the feed port of the bag dropping and stacking machine platform.

[0011] According to the bag-dropping loader based on the mechanical arm mechanism described in the right, it also includes a three-dimensional frame, with columns on both sides of the bottom, a loading channel in the middle, tracks on both sides of the top, a mobile vehicle with rollers and running on the tracks, and the telescopic conveyor is movably arranged on the tracks.

[0012] According to the bag-dropping loader based on the robotic arm mechanism, the universal rotating frame includes two support plates at the bottom, a rotating shaft is arranged between the support plates, a fixed part of a rotating support is arranged on the rotating shaft, and the rotating part of the rotating support is fixed to the lower front end of the frame of the swing conveyor.

[0013] According to the bag-dropping loader based on the mechanical arm mechanism described in the right, two support plates are fixed on the support frame, the support frame is fixed on the swing arm, the support plate is L-shaped, the horizontal part is fixed to the support frame, and the vertical part is provided with holes for installing the bearings of the rotating shaft.

[0014] According to the bag-dropping loader based on the mechanical arm mechanism described in the right, the rear end of the frame of the swing conveyor is arranged on the rotating end of the rear swing rotating support, and the fixed end of the rear swing rotating support is fixed on the rear moving trolley, and the rear moving trolley is provided with rollers and runs on the track of the three-dimensional frame.

[0015] According to the bag-dropping loader based on the mechanical arm mechanism described in the right, the lifting arm is arranged on the transverse vehicle through a rotating support, and the lifting arm includes a primary lifting arm and a secondary lifting arm. The primary lifting arm and the secondary lifting arm, the bottom of the primary lifting arm is connected to the rotating support, and the top is hingedly connected to the secondary lifting arm. The hinge axis is horizontal, and a lifting reduction motor is arranged at the connection to drive the lifting and swinging of the secondary lifting arm. The front end of the secondary lifting arm is hingedly arranged with the swing arm through a two-degree-of-freedom joint. The two degrees of freedom are perpendicular to each other, and the swing arm is always in horizontal swing. A front balancing column is arranged at the rear end of the swing arm, and a rear balancing pillar is arranged at a hinged position at the front end of the primary lifting arm, and a balancing rod hingedly connected to the front balancing pillar and the rear balancing pillar is arranged.

[0016] The advantages of the present invention are:

[0017] The bagging and stacking mechanism and the conveyor are effectively connected through the mechanical arm, so that the front end of the conveyor swings and cooperates with the bagging and stacking mechanism to realize rapid bagging and loading of bagged goods, thereby improving loading efficiency;

[0018] The device is based on a mechanical arm structure and is flexible in rotation. It can realize the flexible left-right and up-and-down movement of the bag-dropping and stacking mechanism without moving the base of the mechanical arm. The stacking is accurate, the stacking density is high and the effect is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is the overall structure diagram of the utility model.

[0020] Figure 2 It is a top view of the utility model.

[0021] Figure 3 This is a combined diagram of the bagging machine, mechanical arm and conveyor of the utility model.

[0022] Figure 4 yes Figure 3 Side view of

[0023] Figure 5 It is a three-dimensional diagram of the robotic arm.

[0024] Reference numerals: 1. bag-dropping and stacking machine, 2. mechanical arm, 21. primary lifting arm, 22. secondary lifting arm, 23. lifting reduction motor drive, 24. front-end reduction motor drive, 25 base

[0025] 3. Conveyor, 31. Buffer conveyor, 32. Swing conveyor, 4. Swing arm, 41. Mobile vehicle, 5. Balance bar, 51. Front balance column, 52. Rear balance column, 6. Three-dimensional frame, 61. Track, 7. Universal rotating frame, 71. Support plate, 72. Rotating shaft, 73. Rotating bearing. DETAILED DESCRIPTION

[0026] The specific structure of the utility model is further described below:

[0027] The utility model is a bagging and loading machine based on a mechanical arm mechanism, comprising a bagging and stacking machine platform 1, a mechanical arm 2 and a conveyor 3. The front end of the mechanical arm 2 is provided with a swing arm 4, the swing arm 4 is in a horizontal swinging state, and the rear end of the mechanical arm 2 is arranged on a moving vehicle 41;

[0028] A buffer conveyor 31 is provided at the front end of the swing arm 4, a front fixed frame of a swing conveyor 32 is provided at the rear of the buffer conveyor 31, a universal rotating frame 7 is provided at the front fixed frame of the swing conveyor 32, the universal rotating frame 7 has two rotational degrees of freedom, and the rotation centers of the two rotational degrees of freedom are vertical, the rotating end of the universal rotating frame 7 is connected to the front end of the frame of the swing conveyor 32, the rear end of the frame of the swing conveyor 32 is connected to the telescopic conveyor 3, the swing conveyor 32 and the buffer conveyor 31 are connected front and back, and the front end of the buffer conveyor 31 is provided with the bag dropping and stacking machine platform 1.

[0029] The bag-dropping palletizer platform 1 and the buffer conveyor 31 are an integrated structure. The frame of the buffer conveyor 31 is fixed to the front end of the swing arm 4. The bag-dropping palletizer platform 1 is provided with a feed port, and the front end of the buffer conveyor 31 passes into the feed port of the bag-dropping palletizer platform 1.

[0030] The bag-dropping and palletizing machine 1 is a bag-dropping and palletizing mechanism that can autonomously adjust the direction of the material bags as they fall, and its bag-dropping speed is faster than that of robot palletizing.

[0031] The device is installed in a three-dimensional frame 6, with columns on both sides of the bottom, a connecting truss on the top, a loading channel in the middle, and a loading space in the middle of the connecting truss. Tracks 61 are provided on both sides of the top, and the mobile vehicle 41 is provided with rollers and travels on the tracks 61. The rollers are provided with driving motors, and the telescopic conveyor 3 is arranged on the tracks 61 and can move.

[0032] Specifically, the universal rotating frame 7 includes two support plates at the bottom, the two support plates are L-shaped, the horizontal parts are fixed to the swing arms, and the vertical parts are provided with holes for mounting bearings. A rotating shaft is provided at the mounting hole bearings between the two support plates, and a fixed part of the front end rotating support is provided on the rotating shaft. The rotating part of the front end rotating support is fixed to the lower front end of the frame of the swing conveyor 32.

[0033] The two support plates are fixed on the support frame, and the support frame is fixed on the swing arm 4. The support plate is L-shaped, the horizontal part is fixed to the support frame, and the vertical part is provided with holes for installing the bearings of the rotating shaft.

[0034] The rear end of the frame of the swing conveyor 32 is arranged on the rotating end of the rear swing rotating support, and the fixed end of the rear swing rotating support is fixed on the rear moving trolley. The rear moving trolley is provided with rollers and runs on the track 61 of the three-dimensional frame 6.

[0035] The mechanical arm 2 of the utility model includes a lifting arm including a primary lifting arm 21 and a secondary lifting arm 22. The primary lifting arm 21 and the secondary lifting arm 22, the bottom of the primary lifting arm 21 is connected to the base, the top is hinged to the secondary lifting arm 22, the hinge axis is horizontal, and a lifting reduction motor 23 is provided at the connection to drive the lifting and swinging of the secondary lifting arm 22. The front end of the secondary lifting arm 22 is hinged to set the swing arm 4 through a two-degree-of-freedom joint, the two degrees of freedom are perpendicular to each other, and the swing arm 4 is always in horizontal swing, and the rear end of the swing arm 4 is provided with a front balance column, and the front end of the primary lifting arm 21 is provided with a rear balance pillar at the hinge position, and a balance rod hingedly connected is provided between the front balance pillar and the rear balance pillar. A front-end reduction motor drive 24 is provided in the two-degree-of-freedom joint.

[0036] The robot arm can quickly drive the front end of the bagging and stacking machine platform 1, the buffer conveyor 31 and the front end of the swing conveyor to rise and fall and swing left and right, providing convenience for the material stacking of the bagging and stacking machine platform 1.

[0037] The present invention effectively connects the bag-dropping and stacking mechanism and the conveyor through a mechanical arm, realizes the swing of the front end of the conveyor and cooperates with the bag-dropping and stacking mechanism, realizes rapid bag-dropping and loading of bagged goods, and improves loading efficiency.

[0038] The device is based on a mechanical arm structure and is flexible in rotation. It can realize the flexible left-right and up-and-down movement of the bag-dropping and stacking mechanism without moving the base of the mechanical arm. The stacking is accurate, the stacking density is high and the effect is good.

Claims

1. A bagging and loading machine based on a robotic arm mechanism, comprising a bagging and stacking machine platform (1), a robotic arm (2) and a conveyor (3), wherein: The front end of the mechanical arm (2) is provided with a swing arm (4), the swing arm (4) is in a horizontal swinging state, the rear end of the mechanical arm (2) is arranged on a moving vehicle (41), the front end of the swing arm (4) is provided with a buffer conveyor (31), the rear part of the buffer conveyor (31) is provided with a front fixed frame of a swing conveyor (32), the front fixed frame of the swing conveyor (32) is provided with a universal rotating frame (7), the universal rotating frame (7) has two rotational degrees of freedom, and the rotation centers of the two rotational degrees of freedom are vertical, the rotation end of the universal rotating frame (7) is connected to the front end of the frame of the swing conveyor (32), the rear end of the frame of the swing conveyor (32) is connected to the telescopic conveyor (3), the swing conveyor (32) and the buffer conveyor (31) are connected front and rear, and the front end of the buffer conveyor (31) is provided with the bag dropping and stacking machine platform (1).

2. The bagging and loading machine based on the mechanical arm mechanism according to claim 1 is characterized in that: The bag-dropping palletizing machine platform (1) and the buffer conveyor (31) are an integrated structure. The frame of the buffer conveyor (31) is fixed to the front end of the swing arm (4). The bag-dropping palletizing machine platform (1) is provided with a feed inlet. The front end of the buffer conveyor (31) is connected to the feed inlet of the bag-dropping palletizing machine platform (1).

3. The bagging and loading machine based on the mechanical arm mechanism according to claim 1 is characterized in that: It also includes a three-dimensional frame (6), with columns on both sides of the bottom, a loading channel in the middle, and tracks (61) on both sides of the top. The mobile vehicle (41) is provided with rollers and travels on the tracks (61), and the telescopic conveyor (3) is movably arranged on the tracks (61).

4. The bagging and loading machine based on the mechanical arm mechanism according to claim 1 is characterized in that: The universal rotating frame (7) comprises two supporting plates at the bottom, a rotating shaft is arranged between the supporting plates, a fixed part of a rotating support is arranged on the rotating shaft, and the rotating part of the rotating support is fixed to the lower part of the front end of the frame of the swing conveyor (32).

5. The bagging and loading machine based on the mechanical arm mechanism according to claim 4 is characterized in that: The two support plates are fixed on the support frame, and the support frame is fixed on the swing arm (4). The support plate is L-shaped, with a horizontal portion fixed to the support frame and a vertical portion provided with a hole for mounting a bearing of the rotating shaft.

6. The bagging and loading machine based on the mechanical arm mechanism according to claim 3 is characterized in that: The rear end of the frame of the swing conveyor (32) is arranged on the rotating end of the rear swing rotating support, and the fixed end of the rear swing rotating support is fixed on the rear moving trolley. The rear moving trolley is provided with rollers and travels on the track (61) of the three-dimensional frame (6).

7. The bagging and loading machine based on the mechanical arm mechanism according to claim 1 is characterized in that: The mechanical arm (2) comprises a lifting arm including a first-stage lifting arm (21) and a second-stage lifting arm (22), wherein the first-stage lifting arm (21) and the second-stage lifting arm (22) are connected to each other at the bottom of the first-stage lifting arm (21) and the base is arranged on the mobile vehicle (41), and the top is hingedly connected to the second-stage lifting arm (22), the hinge axis is horizontal, and a lifting reduction motor (23) is arranged at the connection to drive the lifting and swinging of the second-stage lifting arm (22), the front end of the second-stage lifting arm (22) is hingedly arranged with the swing arm (4) through a two-degree-of-freedom joint, the two degrees of freedom are perpendicular to each other, and the swing arm (4) is always in horizontal swing, the rear end of the swing arm (4) is provided with a front balancing column, the front end of the first-stage lifting arm (21) is provided with a rear balancing pillar at a hinge position, a balancing rod hingedly connected between the front balancing pillar and the rear balancing pillar is arranged, and a front reduction motor drive (24) is arranged in the two-degree-of-freedom joint.

Images