Bagged product car loader and car loading system
By using rack and rack lift driving mechanism and automated walking mechanism in the loading machine, the existing loading machine has solved the problems of low loading speed, low efficiency and insufficient safety, which has achieved an efficient and automated loading process, and improved the loading floor area ratio and loading efficiency.
Patent Information
- Application Number
- CN202421855065.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-02
- Publication Date
- 2025-05-27
- Estimated Expiration
- 2034-08-02
AI Technical Summary
The existing loading machines have low loading speed, low efficiency, poor intelligence, insufficient safety, and traditional sprocket chain lifting drive structure limits the rise height of the loading machines in the container, resulting in a low loading area ratio, which requires manual participation to achieve a loading area ratio of 90%.
The rack-and-pin lifting drive mechanism and walking mechanism are adopted, including McNum wheels, lidar and 3D vision cameras, to achieve an automated and intelligent loading process. The rack-and-pin lifting drive mechanism allows the lifting platform to rise to a position of 90% relative to the height of the car in the car, improves the loading floor area ratio, and improves the loading efficiency by placing the conveyor and shaping mechanism.
The loading efficiency has been achieved, and the loading floor area ratio reaches 90% without manual participation, which reduces the labor intensity of workers, improves the accuracy and safety of loading, and reduces the cargo loss rate.
Smart Images
Figure CN222906991U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of loading equipment, in particular to a bagged product loader and a loading system. Background Art
[0002] With the increasing aging of the population in recent years, in the final loading link of the chemical industry, chemical fertilizer industry, and grain industry, especially in container loading, the measured temperature inside the container can reach over 60°C under high temperature. The bagged products are generally 25 - 75 KG per bag, and thousands of bags of products per hour need to be manually transferred to the container for shipment. A large amount of manual labor is required for the high-intensity physical work, and enterprises often face the dilemma of difficult recruitment.
[0003] The disadvantages of the existing loaders on the market are as follows: (1) Single-time bag receiving and loading, with low loading speed and low loading efficiency; (2) Poor equipment intelligence, unable to guarantee safety, and no longer meeting the requirements of current safety codes; (3) The existing loader adopts a sprocket and chain type lifting drive structure. Due to the limited space inside the container, in the traditional sprocket and chain type lifting drive structure, on the one hand, the rise of the lifting and conveying platform of the loader is blocked by the upper sprocket, resulting in the lifting and conveying platform can only rise to a position 60% of the relative height of the carriage. As a result, the maximum loading volume ratio of the loader in the container can only reach 60% at a time. To reach a loading volume ratio of 90%, manual participation is required, which not only increases the labor intensity of workers but also reduces the loading efficiency. Summary of the Utility Model
[0004] The first object of the utility model is to provide a bagged product loader with high loading efficiency.
[0005] To achieve the above object, the utility model adopts the following technical scheme: A bagged product loader, including a frame, a traveling mechanism, and a lifting platform. The traveling mechanism is installed at the bottom of the frame to drive the frame to move freely. The lifting platform is slidably arranged in the frame through a vertical guiding component and can move up and down relative to the frame. A gear and rack type lifting drive mechanism for driving the lifting platform to move up or down relative to the frame is arranged between the lifting platform and the frame. A bag receiving conveyor for receiving and conveying the bagged products forward is arranged in the lifting platform. Two bag swinging conveyors are arranged on the output side of the bag receiving conveyor. The two bag swinging conveyors are arranged left and right. Each bag swinging conveyor is installed on the lifting platform through a left and right translation mechanism. Each bag swinging conveyor can be translated left and right under the drive of the corresponding left and right translation mechanism to be butted with the bag receiving conveyor to receive the bagged products output from the bag receiving conveyor, and can be translated left and right to the required bag swinging station and then output the bagged products.
[0006] Furthermore, for the above-mentioned bagged product loading machine, it is characterized in that: the structure of the rack and pinion type lifting drive mechanism includes: a lifting drive shaft is supported in a lifting platform below the bag receiving conveyor, the lifting drive shaft is driven to rotate by a lifting servo motor, lifting gears are respectively installed at both shaft ends of the lifting drive shaft after extending left and right out of the lifting platform, a lifting rack running up and down is respectively installed on the left and right sides of the machine frame, the lifting gears at both shaft ends of the lifting drive shaft correspond to the lifting racks on both sides of the machine frame one by one, the lifting gears at each shaft end of the lifting drive shaft are meshed with the corresponding lifting rack, and the lifting servo motor drives each lifting gear to run along the corresponding lifting rack through the lifting drive shaft to drive the lifting platform to rise or fall relative to the machine frame.
[0007] Furthermore, for the above-mentioned bagged product loading machine, it is characterized in that: the structure of the traveling mechanism includes: a control system, four independently controllable Mecanum wheels capable of self-driven forward, backward, left and right movement, and several lidar sensors; the four Mecanum wheels are installed at the four corners of the bottom of the machine frame, and the control system is signal-connected to the independent controllers of each lidar sensor and each Mecanum wheel.
[0008] Furthermore, for the above-mentioned bagged product loading machine, it is characterized in that: a 3D vision camera signal-connected to the control system is installed at the front end of the machine frame.
[0009] Furthermore, for the above-mentioned bagged product loading machine, it is characterized in that: a self-shaping mechanism capable of shaping the placement posture and width dimension of the bagged products passing through the bag receiving conveyor is provided at the bag receiving conveyor, and the structure of the self-shaping mechanism includes: two shaping guard bars are arranged above the bag receiving conveyor, the two shaping guard bars are distributed left and right, each shaping guard bar is arranged in the front-back direction, the area of the bag receiving conveyor between the two shaping guard bars is the placement posture and width dimension shaping area, and each shaping guard bar is installed on the corresponding side plate of the bag receiving conveyor through a height and left-right position adjusting mechanism.
[0010] Furthermore, the aforementioned bagged product loading machine, wherein: the structure of the height and left-right position adjustment mechanism includes: a plurality of vertical poles are fixed in sequence from front to back on the side plates corresponding to the bag receiving conveyor corresponding to the shaping guard bar, an adjustment block is arranged on each vertical pole, a first long groove penetrating the adjustment block up and down is arranged on the front end side wall of each adjustment block, the first long groove forms two first clamping parts opposite to each other at the front end of the adjustment block, each vertical pole passes through the adjustment block from the first long groove of the corresponding adjustment block, a front locking bolt is connected between the two first clamping parts of each adjustment block, which can bring the two first clamping parts together to fix the adjustment block on the vertical pole, a second long groove penetrating the adjustment block in the left-right direction is arranged on the rear end side wall of each adjustment block, the second long groove forms two second clamping parts opposite to each other at the rear end of the adjustment block, a cross bar is passed through the second long groove of each adjustment block, each cross bar is fixed to the corresponding shaping guard bar, and a rear locking bolt is connected between the two second clamping parts of each adjustment block, which can bring the second clamping parts together to clamp and fix the cross bar.
[0011] Furthermore, the aforementioned bagged product loading machine, wherein: the structure of the bag receiving conveyor includes: a bag receiving conveyor bracket, a first electric roller is supported between the front ends of the left and right side plates of the bag receiving conveyor bracket, a first driven roller is supported between the rear ends of the left and right side plates of the bag receiving conveyor bracket, a bag receiving conveyor belt is wound between the first electric roller and the first driven roller, and a plurality of first rollers for supporting the upper conveying section of the bag receiving conveyor belt are supported in sequence from front to back between the left and right side plates between the first electric roller and the first driven roller.
[0012] Furthermore, the aforementioned bagged product loading machine, wherein: the two bag-swinging conveyors are respectively a left bag-swinging conveyor and a right bag-swinging conveyor, and the structure of the left-right translation mechanism for driving the left bag-swinging conveyor to translate left and right includes: two first left-right slide rails installed on the lifting platform, the two first left-right slide rails are arranged front and back, and a plurality of first sliders corresponding to the two first left-right slide rails are arranged at the bottom of the left bag-swinging conveyor, and the left bag-swinging conveyor is slidably arranged on the two first left-right slide rails through each first slider, and a first fixed block is fixed at the bottom of the left bag-swinging conveyor, and a first motion servo motor is installed on the lifting platform, and a first screw rod is installed on the output shaft of the first motion servo motor, and the first screw rod passes through the first fixed block and is threadedly connected to the first fixed block, and the first motion servo motor drives the left bag-swinging conveyor to translate along the first left-right slide rail to connect with the bag-receiving conveyor through the first screw rod and the first fixed block to receive the bagged products output from the bag-receiving conveyor, and can translate along the first left-right slide rail to the required bag-swinging station to output the bagged products;
[0013] The structure of the left and right translation mechanism for driving the left and right translation of the right swing bag conveyor includes: two second left and right direction slide rails installed on the lifting platform, the two second left and right direction slide rails are arranged front and back. A number of second sliders corresponding to the two second left and right direction slide rails are provided at the bottom of the right swing bag conveyor. The right swing bag conveyor is slidably arranged on the two second left and right direction slide rails through each second slider. A second fixing block is fixed at the bottom of the right swing bag conveyor. A second motion servo motor is installed on the lifting platform. A second lead screw is installed on the output shaft of the second motion servo motor. The second lead screw passes through the second fixing block and is threadedly connected to the second fixing block. The second motion servo motor drives the right swing bag conveyor to translate along the second left and right direction slide rails to be docked with the bag receiving conveyor to receive the bagged products output from the bag receiving conveyor, and can translate along the second left and right direction slide rails to the required bagging station and then output the bagged products.
[0014] Further, in the aforementioned bagged product loading machine, two bagging conveyors are respectively a left bagging conveyor and a right bagging conveyor. The structure of the left bagging conveyor includes: a left bagging conveyor support. A second electric roller is supported between the front ends of the left and right side plates of the left bagging conveyor support. A second driven roller is supported between the rear ends of the left and right side plates of the left bagging conveyor support. A left bagging conveyor belt is wound between the second electric roller and the second driven roller. A number of second rollers for supporting the upper conveying section of the left bagging conveyor belt are sequentially supported between the left and right side plates between the second electric roller and the second driven roller from front to back. The structure of the right bagging conveyor includes: a right bagging conveyor support. A third electric roller is supported between the front ends of the left and right side plates of the right bagging conveyor support. A third driven roller is supported between the rear ends of the left and right side plates of the right bagging conveyor support. A right bagging conveyor belt is wound between the third electric roller and the third driven roller. A number of third rollers for supporting the upper conveying section of the right bagging conveyor belt are sequentially supported between the left and right side plates between the third electric roller and the third driven roller from front to back.
[0015] The second object of the present utility model is to provide a bagged product loading system with high loading efficiency.
[0016] To achieve the above object, the utility model adopts the following technical solutions: A bagged product loading system, characterized in that: it includes a bagged product loading machine, a palletizing robot, a telescopic belt conveyor, a liftable belt conveyor, and a liftable parking platform; the telescopic belt conveyor, the liftable belt conveyor, and the bagged product loading machine are arranged in sequence along the forward conveying direction of the bagged product; the liftable parking platform is used to lift the bagged product loading machine to a loading height convenient for entering the container; the palletizing robot is arranged on the input side of the telescopic belt conveyor, and the palletizing robot is used to place single-bag bagged products on the telescopic belt conveyor one by one. The output end of the telescopic belt conveyor is hinged to the input end of the liftable belt conveyor, and the output end of the liftable belt conveyor is hinged to the input end of the receiving belt conveyor in the bagged product loading machine.
[0017] By implementing the above technical solutions, the beneficial effects of the utility model are: (1) It is equipped with two bag-swinging conveyors, and the two bag-swinging conveyors can take turns to cooperate with the receiving conveyor for bag receiving and bag swinging work. The working efficiency is twice that of the traditional bag-type loading machine, and the working efficiency is high; (2) It adopts a rack and pinion type lifting drive mechanism more suitable for container working conditions. In the rack and pinion type lifting drive mechanism of this application, when the lifting platform walks upward along the rack through the pinion, the rack will not prevent the lifting platform from rising, so that the upward height of the lifting platform in the carriage is greatly increased. The lifting platform can rise to a position 90% of the relative height of the carriage, so that the primary loading volume ratio of the loading machine can reach 90% without manual participation, which not only reduces the labor intensity of workers, but also improves the loading efficiency; (3) A self-shaping mechanism capable of shaping the placement posture and width size of bagged products is provided on the receiving conveyor, which can shape the bagged products to a unified width size and form before the bagged products are palletized and placed, ensuring the consistency of the placement of bagged products; (4) Through the cooperation of the control system with the 3D vision camera, lidar, and Mecanum wheels, it can not only realize automatic vehicle guidance and positioning, but also during the loading process, the control system can real-time monitor the material level height, obtain the real-time loading status, ensure that the bagged products can be accurately, efficiently and neatly loaded into the container, and at the same time reduce manual intervention, ensure the loading accuracy, and realize loading automation; (5) Based on the data obtained by the lidar, the control system can intelligently plan the loading path, ensure that the goods can be evenly distributed during the loading process, avoid overloading or uneven loading of the vehicle, and can also effectively avoid unnecessary damage to the goods during the loading process, reduce the cargo damage rate, and improve the use safety. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 It is a schematic structural diagram of a bagged product loading machine described in the utility model.
[0019] Figure 2 isFigure 1 Schematic structural diagram in the top-down direction.
[0020] Figure 3 is Figure 1 Schematic three-dimensional structure diagram of
[0021] Figure 4 is Figure 1 Schematic structural diagram when the side plates of the frame are hidden and the lifting platform descends to the starting height in
[0022] Figure 5 is Figure 2 Schematic structural diagram after the bag receiving conveyor belt, left bag swinging conveyor belt and right bag swinging conveyor belt are hidden in
[0023] Figure 6 is Figure 5 Schematic three-dimensional structure diagram of
[0024] Figure 7 is Figure 6 Enlarged schematic diagram of part A shown in
[0025] Figure 8 Schematic structural diagram after the bag receiving conveyor, left bag swinging conveyor and right bag swinging conveyor on the lifting platform respectively hide the bag receiving conveyor belt, left bag swinging conveyor belt and right bag swinging conveyor belt.
[0026] Figure 9 is Figure 8 Schematic structural diagram of the bag receiving conveyor, left bag swinging conveyor and right bag swinging conveyor in the top-down direction.
[0027] Figure 10 Schematic structural diagram of the bagged product loading system.
[0028] Figure 11 is Figure 10 Schematic three-dimensional structure diagram after the liftable parking platform is hidden in Detailed implementation manners
[0029] In order to make the objectives, technical solutions and advantages of the present utility model clearer and more understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.
[0030] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Figure 9As shown, a bagged product loading machine includes a frame 1, a traveling mechanism 2, and a lifting platform 3. The traveling mechanism 2 is installed at the bottom of the frame 1 to drive the frame 1 to move freely. In this embodiment, the structure of the traveling mechanism includes: a control system 221, four independently controllable Mecanum wheels 222 that can drive forward, backward, left, and right, and several lidar sensors 223. Since the Mecanum wheels 222 are prior art, their specific structures will not be elaborated here. Each lidar sensor 223 can scan the vehicle and goods in real time to obtain real-time ranging information, including the position of the loading machine in the carriage and the position of the goods. The four Mecanum wheels 222 are installed at the four corners of the bottom of the frame. The control system 221 is signal-connected to the independent controllers of each lidar sensor 223 and each Mecanum wheel 222. During the entire loading process, each lidar sensor 223 will monitor the position of the loading machine in the carriage in real time and feed the position signal back to the control system 221. The control system 221 then controls the actions of the four Mecanum wheels 222 according to the current position of the loading machine and the current loading conditions to adjust the position of the loading machine in the carriage in real time, ensuring that the loading machine is always in the best loading position in the carriage. In this embodiment, a 3D vision camera 9 signal-connected to the control system 221 is installed at the front end of the frame 1. Before loading, the 3D vision camera 9 will scan the internal dimensions of the carriage and feed them back to the control system 221. The control system 221 will calculate the number of bags that can be loaded within the standard dimensions of the carriage and the arrangement method of the bagged products in the carriage based on the internal dimension information of the carriage fed back by the 3D vision camera 9 and the dimension information of a single bagged product, generate a loading recipe menu, and display the loading recipe menu on a mobile touch screen outside the loading machine.
[0031] The lifting platform 3 is slidably arranged in the frame 1 so as to be movable up and down relative to the frame 1 through a vertical guiding assembly. In this embodiment, the structure of the vertical guiding assembly includes: several vertically extending vertical guide rails 4 are respectively installed on the left and right sides of the frame 1, and several sliders 5 are respectively fixed on the left and right sides of the lifting platform 3. The sliders 5 of the lifting platform 3 correspond to and are slidably engaged with the vertical guide rails 4 of the frame 1 one by one. The lifting platform 3 moves smoothly up and down relative to the frame 1 by moving each slider 5 along the corresponding vertical guide rail 4.
[0032] A rack and pinion type lifting drive mechanism is provided between the lifting platform 3 and the frame 1 for driving the lifting platform 3 to move up or down relative to the frame 1. A bag receiving conveyor 6 capable of receiving and conveying bagged products forward is provided in the lifting platform 3. Two bag swinging conveyors are arranged on the output side of the bag receiving conveyor 6. The two bag swinging conveyors are respectively defined as a left bag swinging conveyor 7 and a right bag swinging conveyor 8. The two bag swinging conveyors are arranged left and right. Each bag swinging conveyor is installed on the lifting platform 3 through a left and right translation mechanism. Each bag swinging conveyor can be translated left and right under the drive of the corresponding left and right translation mechanism to be butted against the bag receiving conveyor 6 to receive the bagged products output from the bag receiving conveyor 6, and can be translated left and right to the required bag swinging station and then output the bagged products;
[0033] In this embodiment, the structure of the rack and pinion type lifting drive mechanism includes: a lifting drive shaft 10 is supported in the lifting platform 3 below the bag receiving conveyor 6. The lifting drive shaft 10 is driven to rotate by a lifting servo motor 11. The two shaft ends of the lifting drive shaft 10 respectively extend left and right out of the lifting platform 3 and are respectively installed with a lifting gear 12. A lifting rack 13 running up and down is respectively installed on the left and right sides of the frame 1. The lifting gears 12 at the two shaft ends of the lifting drive shaft 10 correspond to the lifting racks 13 on the two sides of the frame 1 one by one. The lifting gear 12 at each shaft end of the lifting drive shaft 10 meshes with the corresponding lifting rack 13. The lifting servo motor 11 drives each lifting gear 12 to move along the corresponding lifting rack 13 through the lifting drive shaft 10 to drive the lifting platform 3 to rise or fall relative to the frame 1, and synchronously drives the bag receiving conveyor 6, the left bag swinging conveyor 7 and the right bag swinging conveyor 8 to rise or fall. In this application, the rack and pinion type lifting drive structure replaces the traditional sprocket and chain type lifting drive structure. The rack and pinion type lifting drive mechanism more suitable for the container working condition is adopted in this application. In the rack and pinion type lifting drive mechanism of this application, when the lifting platform walks upward along the rack through the gear, the rack will not prevent the lifting platform from going up, so that the upward height of the lifting platform in the carriage is greatly increased. The lifting platform can rise to a position 90% of the height relative to the carriage, so that the one-time loading volume ratio of the loader can reach 90% without manual participation. Because the loading volume ratio of 90% can be achieved without manual participation, the labor intensity of workers is greatly reduced and the loading efficiency is improved;
[0034] In this embodiment, a self-shaping mechanism capable of shaping the posture and width of the bagged products passing through the bag-receiving conveyor 6 is provided at the bag-receiving conveyor 6, and the structure of the self-shaping mechanism includes: two shaping guard bars 14 are provided above the bag-receiving conveyor 6, the two shaping guard bars 14 are distributed left and right, and each shaping guard bar 14 is arranged in a front-to-back direction, and the bag-receiving conveyor area between the two shaping guard bars 14 is a posture and width shaping area, and each shaping guard bar 14 is installed on the corresponding side plate of the bag-receiving conveyor 6 through a height and left-right position adjustment mechanism;
[0035] In this embodiment, in this embodiment, since the structures of the height and left-right position adjustment mechanisms corresponding to the two shaping guard bars are the same, the following only takes the structure of the height and left-right position adjustment mechanism corresponding to one of the shaping guard bars as an example for explanation, and the structure of the height and left-right position adjustment mechanism includes: a plurality of vertical rods 15 are fixed in sequence from front to back on the side plates corresponding to the bag receiving conveyor 6 corresponding to the shaping guard bar 14, and an adjustment block 16 is arranged on each vertical rod 15, and a first long groove 17 that passes through the adjustment block 16 from top to bottom is arranged on the front end side wall of each adjustment block 16, and the first long groove 17 forms two first clamping portions 18 opposite to each other on the left and right of the front end of the adjustment block 16, and each vertical rod 15 is connected from the first long groove 17 of the corresponding adjustment block 16. The slot 17 passes through the adjustment block 16, and a front locking bolt 19 is connected between the two first clamping parts 18 of each adjustment block 16, which can bring the two first clamping parts 18 together to fix the adjustment block 16 on the vertical pole 15. A second long slot 20 that passes through the adjustment block 16 in the left and right directions is provided on the rear end side wall of each adjustment block 16, and the second long slot 20 forms two second clamping parts 21 that are opposite to each other at the rear end of the adjustment block 16. A cross bar 22 is passed through the second long slot 20 of each adjustment block 16, and each cross bar 22 is fixed to the corresponding shaping guard bar 14. A rear locking bolt 23 that can bring the second clamping parts 21 together to clamp and fix the cross bar 22 is connected between the two second clamping parts 21 of each adjustment block 16;
[0036] In actual use, when the height position of the shaping guard bar 14 needs to be adjusted, it is only necessary to loosen the front locking bolts 19, and then move the shaping guard bar 14 together with the adjustment blocks 16 upward or downward to a suitable height along the vertical pole 15, and then tighten the front locking bolts 19; when the left and right positions of the shaping guard bar 14 need to be adjusted, it is only necessary to loosen the rear locking bolts 23, and then move the shaping guard bar 14 to the left or right along the second long groove 20 of the adjustment block 16 through the cross bars 22 to a suitable position, and then tighten the rear locking bolts 23. By adjusting the height position and the left and right positions of the shaping guard bar 14, the relative positions of the two shaping guard bars can adapt to bagged products of different sizes, thereby expanding the scope of application;
[0037] In this embodiment, the structure of the bag receiving conveyor 6 includes: a bag receiving conveying bracket 61, a first electric roller 62 is supported between the front ends of the left and right side plates of the bag receiving conveying bracket 61, a first driven roller 63 is supported between the rear ends of the left and right side plates of the bag receiving conveying bracket 61, a bag receiving conveying belt 64 is wound between the first electric roller 62 and the first driven roller 63, and a plurality of first rollers 65 for supporting the upper conveying section of the bag receiving conveying belt 64 are supported in sequence from front to back between the left and right side plates between the first electric roller 62 and the first driven roller 63; the first electric roller 62 used in the bag receiving conveyor 6 can be built into the bag receiving conveying bracket 61, thereby reducing the overall installation size of the bag receiving conveyor, so that the size of the bag receiving conveyor can be more suitable for the loading condition of the small space of the container, and through the design of the first roller, the bag receiving conveyor can more stably undertake and convey the bagged products;
[0038] In the present embodiment, the structure of the left-swinging bag conveyor 7 comprises: a left-swinging bag conveyor bracket 71, a second electric roller 72 is supported between the front ends of the left and right side plates of the left-swinging bag conveyor bracket 71, a second driven roller 73 is supported between the rear ends of the left and right side plates of the left-swinging bag conveyor bracket 71, a left-swinging bag conveyor belt 74 is wound between the second electric roller 72 and the second driven roller 73, and a plurality of second rollers 75 for supporting the upper conveying section of the left-swinging bag conveyor belt 74 are supported in sequence from front to back between the left and right side plates between the second electric roller 72 and the second driven roller 73; the second electric roller 72 used in the present left-swinging bag conveyor 7 can be built into the left-swinging bag conveyor bracket 71, thereby reducing the overall installation size of the left-swinging bag conveyor 7, so that the size of the left-swinging bag conveyor 7 can be more suitable for the loading condition of the small space of the container, and through the design of the second roller, the left-swinging bag conveyor 7 can be made to more stably undertake the conveying of bagged products; in the present embodiment, the left electric roller 75 for driving the left-swinging bag conveyor 7 to move the left The structure of the right translation mechanism includes: two first left-right slide rails 24 installed on the lifting platform 3, the two first left-right slide rails 24 are arranged front and back, a plurality of first sliders 25 corresponding to the two first left-right slide rails 24 are arranged at the bottom of the left swing bag conveyor 7, the left swing bag conveyor 7 is slidably arranged on the two first left-right slide rails 24 through the first sliders 25, a first fixed block 26 is fixed at the bottom of the left swing bag conveyor 7, a first motion servo motor 27 is installed on the lifting platform 3, a first screw rod 28 is installed on the output shaft of the first motion servo motor 27, the first screw rod 28 passes through the first fixed block 26 and is threadedly connected to the first fixed block 26, the first motion servo motor 27 drives the left swing bag conveyor 7 to translate along the first left-right slide rail 24 to connect with the bag receiving conveyor 6 through the first screw rod 28 and the first fixed block 26 to receive the bagged products output from the bag receiving conveyor 6, and can translate along the first left-right slide rail 24 to the required bag swing station and then output the bagged products;
[0039] The structure of the right swing bag conveyor 8 includes: a right swing bag conveying support 81, between the front ends of the left and right side plates of the right swing bag conveying support 81, a third electric roller 82 is supported, between the rear ends of the left and right side plates of the right swing bag conveying support 81, a third driven roller 83 is supported, between the third electric roller 82 and the third driven roller 83, a right swing bag conveyor belt 84 is wound, between the left and right side plates between the third electric roller 82 and the third driven roller 83, several third rollers 85 for supporting the upper conveying section of the right swing bag conveyor belt 84 are supported in sequence from front to back; the third electric roller 82 adopted by this right swing bag conveyor 8 can be built into the right swing bag conveying support 81, so as to reduce the overall installation size of the right swing bag conveyor 8, make the size of the right swing bag conveyor 8 more adaptable to the loading working conditions of the small space of the container, and through the design of the third roller, the right swing bag conveyor 8 can more stably receive and convey bagged products; in this example, the structure of the left and right translation mechanism for driving the right swing bag conveyor to translate left and right includes: two second left and right direction slide rails 29 installed on the lifting platform 3, the two second left and right direction slide rails 29 are arranged front and back, at the bottom of the right swing bag conveyor 8, several second sliders 30 corresponding to the two second left and right direction slide rails 29 are provided, the right swing bag conveyor 8 is slidably arranged on the two second left and right direction slide rails 29 through each second slider 30, a second fixing block 31 is fixed at the bottom of the right swing bag conveyor 8, a second motion servo motor 32 is installed on the lifting platform 3, a second lead screw 33 is installed on the output shaft of the second motion servo motor 32, the second lead screw 33 passes through the second fixing block 31 and is threadedly connected with the second fixing block 31, and the second motion servo motor 32 drives the right swing bag conveyor 8 to translate along the second left and right direction slide rails 29 to be docked with the bag receiving conveyor 6 to receive the bagged products output from the bag receiving conveyor 6, and can translate along the second left and right direction slide rails 29 to the required bagging station and then output the bagged products.
[0040] Such as Figure 10 、 Figure 11As shown, the utility model also discloses a bagged product loading system, including a bagged product loading machine 34, a depalletizing robot 35, a retractable belt conveyor 36, a liftable belt conveyor 37, and a liftable parking platform 38, wherein the liftable parking platform 38 adopts a scissor-type lifting mechanism; the retractable belt conveyor 36, the liftable belt conveyor 37, and the bagged product loading machine 34 are arranged in sequence along the forward conveying direction of the bagged products; the liftable parking platform 38 is used to place the bagged product loading machine 34 and lift or lower the bagged product loading machine 34; the depalletizing robot 35 is arranged on the retractable belt conveyor 36 On the input side, the depalletizing robot 35 is used to place the single-bag bagged products one by one on the retractable belt conveyor 36, the output end of the retractable belt conveyor 36 is hinged to the input end of the liftable belt conveyor 38, and the output end of the liftable belt conveyor 38 is hinged to the input end of the bag receiving conveyor belt 6 in the bagged product loader 34. This loading system ensures that when the bagged product loader 34 is lifted for loading, the bagged products can still be smoothly transported to the bag receiving conveyor belt 5 in the bagged product loader 34 through the retractable belt conveyor 36 and the liftable belt conveyor 37, which greatly improves the loading efficiency;
[0041] The process of loading a container is as follows:
[0042] S1: The liftable parking platform 38 lifts the bagged product loader 34 to a loading height slightly higher than the container height, so that the bagged product loader can smoothly enter the container; during the lifting process of the bagged product loader 34, the bagged product loader 34 will synchronously drive the output end of the liftable belt conveyor 37 to lift synchronously, ensuring that the liftable belt conveyor 37 and the bagged product loader 34 can smoothly receive the bagged products;
[0043] S2: The 3D vision camera 9 at the front end of the bagged product loader 34 scans the internal dimensions of the container and sends it to the control system 221. The control system 221 calculates the number and arrangement of bags that can be loaded in the current container based on the current internal dimensions of the container and the size of the single bagged product that needs to be loaded, and generates a loading formula menu that is displayed on the mobile touch screen held by the staff;
[0044] S3: Based on the ranging information real-time feedback by the lidar, the control system precisely adjusts the position of the bagged product loader 34 in the container to the initial loading station by controlling the actions of the four Mecanum wheels 222. Then, the control system controls the lifting servo motor 11 of the bagged product loader 34, enabling the lifting servo motor 11 to move along the lifting rack 13 through the lifting gear 12 to adjust the height of the lifting platform 3 until the heights of the bag receiving conveyor 6, the left bag swinging conveyor 7, and the right bag swinging conveyor 8 are synchronously adjusted to the initial loading height. The control system controls the first motion servo motor 27 and the second motion servo motor 32 of the bagged product loader 34 to act, causing the first motion servo motor 27 to drive the left bag swinging conveyor 7 to move to a position opposite to the bag receiving conveyor 6 through the first lead screw 28 and wait, and causing the second motion servo motor 32 to drive the right bag swinging conveyor 7 to move to the rightmost position and wait through the second lead screw 33.
[0045] S4: Then, the palletizing robot disassembles the whole stack of bagged products and places the single-bag bagged products on the telescopic belt conveyor 36 one by one. The telescopic belt conveyor 36 then conveys the bagged products to the liftable belt conveyor 37, and the liftable belt conveyor 37 then sends the bagged products into the bag receiving conveyor 6.
[0046] S5: The control system controls the first electric roller 62 of the bag receiving conveyor 6 to act, enabling the bag receiving conveyor 6 to forward the received bagged products to the left bag swinging conveyor 7 that is docked with it at this time. During the process of the bag receiving conveyor 6 forwarding the bagged products forward, the two shaping guard rods 14 on the bag receiving conveyor 6 will automatically shape the placement posture and width dimension of the bagged products.
[0047] After the left bag swinging conveyor 7 receives a bag of bagged products, the control system controls the first motion servo motor 27 of the left bag swinging conveyor 7 to act again, causing the first motion servo motor 27 to drive the left bag swinging conveyor 7 to move leftward to the left side inside the container through the first lead screw 28. Then, the control system 221 controls the second electric roller 72 of the left bag swinging conveyor 7 to act, enabling the left bag swinging conveyor 7 to forward the received single-bag bagged products, thereby placing the bagged products on the left side of the container.
[0048] While the left bag swinging conveyor 7 moves leftward away from the bag receiving conveyor 6, the control system 221 controls the second motion servo motor 32 of the right bag swinging conveyor 8 to act, causing the second motion servo motor 32 to drive the right bag swinging conveyor to move leftward and align with the bag receiving conveyor 6 through the second lead screw 33.
[0049] S6: The control system controls the first electric roller 62 of the bag receiving conveyor 6 to act again, so that the bag receiving conveyor 6 feeds the received bagged products forward into the right swing bag conveyor 7 that is docked with it at this time; during the process of the bag receiving conveyor 6 transporting the bagged products forward, the two shaping guard rods 14 on the bag receiving conveyor 6 will automatically shape the placement posture and width dimension of the bagged products.
[0050] After the right swing bag conveyor 8 receives a bag of bagged products, the control system controls the second motion servo motor 32 of the right swing bag conveyor 8 to act again, so that the second motion servo motor 32 drives the right swing bag conveyor 8 to move to the right through the second lead screw 33 until it is located on the right side inside the container; then the control system 221 controls the third electric roller 82 of the right swing bag conveyor 8 to act, so that the right swing bag conveyor 8 outputs the received single bag of bagged products forward, thereby placing the bagged products on the right side of the container.
[0051] While the right swing bag conveyor 8 moves to the right and leaves the bag receiving conveyor 6, the control system 221 controls the first motion servo motor 27 of the left swing bag conveyor 7 to act, so that the first motion servo motor 27 drives the left swing bag conveyor to move to the right through the first lead screw 28 to realign with the bag receiving conveyor 6.
[0052] S7: Repeat steps S5 and S6, so that the left swing bag conveyor 7 places the bagged products from left to right in sequence, and the right swing bag conveyor 8 places the bagged products from right to left in sequence until the loading of the bagged products on the first layer of the first row inside the container is completed.
[0053] S8: Then the control system 221 controls the lifting servo motor 11 of the bagged product loader 34 to act again, so that the lifting servo motor 11 walks upward along the lifting rack 13 through the lifting gear 12 to adjust the height of the lifting platform 3 until the bag receiving conveyor 6, the left swing bag conveyor 7 and the right swing bag conveyor 8 are lifted upward together to the upper loading station, and then repeat steps S5 - S7 until the loading of the bagged products on this layer is completed.
[0054] S9: Repeat step S8 until the loading of the bagged products in the first row inside the container is completed.
[0055] S10: The control system, according to the ranging information real - time feedback by the lidar, controls the four Mecanum wheels 222 to act again, and precisely retreats the bagged product loader 34 inside the container to the loading station of the back row; then repeat step S9 until the loading of the bagged products in this row is completed.
[0056] S11: Repeat step S10 until the loading of the bagged products for the whole container vehicle is completed.
[0057] The advantages of the present utility model are as follows: (1) It is equipped with two bag-swinging conveyors, and the two bag-swinging conveyors can take turns to cooperate with the bag-receiving conveyor for bag-receiving and bag-swinging work. The working efficiency is twice that of the traditional bag-type loading machine, with high working efficiency; (2) It adopts a rack and pinion type lifting drive mechanism more suitable for container working conditions. In the rack and pinion type lifting drive mechanism of this application, when the lifting platform walks upward along the rack through the pinion, the rack will not hinder the upward movement of the lifting platform, greatly increasing the upward height of the lifting platform in the carriage. The lifting platform can rise to a position 90% of the relative height of the carriage, enabling the one-time loading volume ratio of the loading machine to reach 90% without manual participation. This not only reduces the labor intensity of workers but also improves the loading efficiency; (3) A self-shaping mechanism for shaping the placement posture and width size of bagged products is provided on the bag-receiving conveyor, which can shape the bagged products to a unified width size and form before palletizing and placing the bagged products, ensuring the consistency of the placement of bagged products; (4) Through the cooperation of the control system with the 3D vision camera, lidar, and Mecanum wheels, it can not only achieve automatic vehicle guidance and positioning, but also during the loading process, the control system can monitor the material level height in real time, obtain the real-time loading status, ensure that the bagged products can be accurately, efficiently, and neatly loaded into the container, while also reducing manual intervention, ensuring the loading accuracy, and realizing loading automation; (5) Based on the data obtained by the lidar, the control system can intelligently plan the loading path, ensure that the goods are evenly distributed during the loading process, avoid overloading or partial loading of the vehicle, and can also effectively avoid unnecessary damage to the goods during the loading process, reduce the cargo damage rate, and improve the use safety.
[0058] The above description is only a preferred embodiment of the present utility model and does not impose any other form of limitation on the present utility model. Any modification or equivalent change made based on the technical essence of the present utility model still falls within the scope of protection required by the present utility model.
Claims
1. A bagged product loading machine, characterized by: The present invention comprises a frame, a travelling mechanism and a lifting platform, wherein the travelling mechanism is installed at the bottom of the frame to drive the frame to move freely, the lifting platform is slidingly arranged in the frame and can move up and down relative to the frame through a vertical guide assembly, and a gear rack type lifting drive mechanism is arranged between the lifting platform and the frame to drive the lifting platform to move upward or downward relative to the frame, a bag receiving conveyor capable of receiving and conveying bagged products forward is arranged in the lifting platform, two bag swinging conveyors are arranged on the output side of the bag receiving conveyor, and the two bag swinging conveyors are arranged on the left and right sides, and each bag swinging conveyor is installed on the lifting platform through a left and right translation mechanism, and each bag swinging conveyor can be translated in the left and right directions to be connected with the bag receiving conveyor under the drive of the corresponding left and right translation mechanism to receive the bagged products output from the bag receiving conveyor, and can be translated in the left and right directions to the required bag swinging station to output the bagged products.
2. A bagged product loading machine according to claim 1, characterized in that: The structure of the gear rack lifting drive mechanism includes: a lifting drive shaft is supported in the lifting platform below the package receiving conveyor, the lifting drive shaft is driven to rotate by a lifting servo motor, and the two side shaft ends of the lifting drive shaft extend to the left and right sides of the lifting platform respectively, and a lifting gear is installed respectively, and a lifting rack running up and down is installed on the left and right sides of the frame respectively, the lifting gears at the two side shaft ends of the lifting drive shaft correspond one by one to the lifting racks on both sides of the frame, and the lifting gears at each side shaft end of the lifting drive shaft are meshed with the lifting rack on the corresponding side, and the lifting servo motor drives each lifting gear to move along the corresponding lifting rack through the lifting drive shaft to drive the lifting platform to rise or fall relative to the frame.
3. The bagged product loading machine according to claim 1, characterized in that: The structure of the walking mechanism includes: a control system, four Mecanum wheels with independent controllers that can be self-driven to walk forward, backward, left and right, and a number of laser radars; the four Mecanum wheels are installed at the four corners of the bottom of the frame, and the control system is connected to the independent controller signals of each laser radar and each Mecanum wheel.
4. The bagged product loading machine according to claim 1, characterized in that: A 3D vision camera connected to the control system signal is installed at the front end of the rack.
5. The bagged product loading machine according to claim 1, characterized in that: A self-shaping mechanism is provided at the bag receiving conveyor, which can shape the placement posture and width size of the bagged products passing through the bag receiving conveyor. The structure of the self-shaping mechanism includes: two shaping guard bars are provided above the bag receiving conveyor, the two shaping guard bars are distributed on the left and right, and each shaping guard bar is arranged in a front-to-back direction. The bag receiving conveyor area between the two shaping guard bars is the placement posture and width size shaping area, and each shaping guard bar is installed on the corresponding side panel of the bag receiving conveyor through a height and left-right position adjustment mechanism.
6. A bagged product loading machine according to claim 5, characterized in that: The structure of the height and left and right position adjustment mechanism includes: a plurality of vertical poles are fixed in sequence from front to back on the side plates corresponding to the bag receiving conveyor corresponding to the shaping guard bar, and an adjustment block is arranged on each vertical pole, and a first long groove penetrating the adjustment block up and down is arranged on the front end side wall of each adjustment block, and the first long groove forms two first clamping parts opposite to each other at the front end of the adjustment block, and each vertical pole passes through the adjustment block from the first long groove of the corresponding adjustment block, and a front locking bolt is connected between the two first clamping parts of each adjustment block, which can bring the two first clamping parts together to fix the adjustment block on the vertical pole, and a second long groove penetrating the adjustment block in the left and right directions is arranged on the rear end side wall of each adjustment block, and the second long groove forms two second clamping parts opposite to each other at the rear end of the adjustment block, and a cross bar is passed through the second long groove of each adjustment block, and each cross bar is fixed to the corresponding shaping guard bar, and a rear locking bolt is connected between the two second clamping parts of each adjustment block, which can bring the second clamping parts together to clamp and fix the cross bar.
7. A bagged product loading machine according to any one of claims 1 to 4, characterized in that: The structure of the package receiving conveyor includes: a package receiving conveying bracket, a first electric roller supported between the front ends of the left and right side plates of the package receiving conveying bracket, a first driven roller supported between the rear ends of the left and right side plates of the package receiving conveying bracket, a package receiving conveying belt is wound between the first electric roller and the first driven roller, and a plurality of first rollers for supporting the upper conveying section of the package receiving conveying belt are supported in sequence from front to back between the left and right side plates between the first electric roller and the first driven roller.
8. A bagged product loading machine according to any one of claims 1 to 4, characterized in that: The two bag swinging conveyors are respectively a left bag swinging conveyor and a right bag swinging conveyor. The structure of the left-right translation mechanism for driving the left bag swinging conveyor to translate left and right includes: two first left-right slide rails installed on the lifting platform, the two first left-right slide rails are arranged front and back, a plurality of first sliders corresponding to the two first left-right slide rails are arranged at the bottom of the left bag swinging conveyor, the left bag swinging conveyor is slidably arranged on the two first left-right slide rails through the first sliders, a first fixed block is fixed at the bottom of the left bag swinging conveyor, a first motion servo motor is installed on the lifting platform, a first screw rod is installed on the output shaft of the first motion servo motor, the first screw rod passes through the first fixed block and is threadedly connected to the first fixed block, the first motion servo motor drives the left bag swinging conveyor to translate along the first left-right slide rail to connect with the bag receiving conveyor through the first screw rod and the first fixed block to receive the bagged products output from the bag receiving conveyor, and can translate along the first left-right slide rail to the required bag swinging station to output the bagged products; The structure of the left-right translation mechanism for driving the right-swinging bag conveyor to translate left-right includes: two second left-right slide rails installed on the lifting platform, the two second left-right slide rails are arranged front-to-back, a plurality of second sliding blocks corresponding to the two second left-right slide rails are arranged at the bottom of the right-swinging bag conveyor, the right-swinging bag conveyor is slidably arranged on the two second left-right slide rails through the second sliding blocks, a second fixed block is fixed at the bottom of the right-swinging bag conveyor, a second motion servo motor is installed on the lifting platform, a second screw rod is installed on the output shaft of the second motion servo motor, the second screw rod passes through the second fixed block and is threadedly connected to the second fixed block, the second motion servo motor drives the right-swinging bag conveyor to translate along the second left-right slide rail to connect with the bag receiving conveyor through the second screw rod and the second fixed block to receive the bagged products output from the bag receiving conveyor, and can translate along the second left-right slide rail to the required bag swing station and then output the bagged products.
9. A bagged product loading machine according to any one of claims 1 to 4, characterized in that: The two swing bag conveyors are respectively a left swing bag conveyor and a right swing bag conveyor, the structure of the left swing bag conveyor includes: a left swing bag conveyor bracket, a second electric roller is supported between the front ends of the left and right side plates of the left swing bag conveyor bracket, a second driven roller is supported between the rear ends of the left and right side plates of the left swing bag conveyor bracket, a left swing bag conveyor belt is wound between the second electric roller and the second driven roller, and a plurality of second rollers for supporting the upper conveying section of the left swing bag conveyor belt are supported in sequence from front to back between the left and right side plates between the second electric roller and the second driven roller; the structure of the right swing bag conveyor includes: a right swing bag conveyor bracket, a third electric roller is supported between the front ends of the left and right side plates of the right swing bag conveyor bracket, a third driven roller is supported between the rear ends of the left and right side plates of the right swing bag conveyor bracket, a right swing bag conveyor belt is wound between the third electric roller and the third driven roller, and a plurality of third rollers for supporting the upper conveying section of the right swing bag conveyor belt are supported in sequence from front to back between the left and right side plates between the third electric roller and the third driven roller.
10. A system for loading bagged products onto a vehicle, characterized in that: It comprises the bagged product loader as claimed in any one of claims 1 to 9, and also comprises: a depalletizing robot, a retractable belt conveyor, a liftable belt conveyor, and a liftable parking platform; the retractable belt conveyor, the liftable belt conveyor, and the bagged product loader are arranged sequentially along the forward conveying direction of the bagged products; the liftable parking platform is used to lift the bagged product loader to a loading height that is convenient for entering the container; the depalletizing robot is arranged at the input side of the retractable belt conveyor, and the depalletizing robot is used to place single-bag bagged products one by one on the retractable belt conveyor, the output end of the retractable belt conveyor is hinged to the input end of the liftable belt conveyor, and the output end of the liftable belt conveyor is hinged to the input end of the bag receiving conveyor belt in the bagged product loader.