Lifting appliance for automatically carrying ton bags

Abstract

The utility model discloses a lifting appliance for automatically carrying ton bags. The lifting appliance comprises a cross beam, a lifting hook, a lifting hook rotating device, a camera, a multi-shaft mechanical arm, a grabbing mechanism and a lifting mechanism, the cross beam is arranged on the travelling trolley through a lifting mechanism in an up-and-down moving manner; the lifting hook is rotatably arranged at the bottom of the cross beam through the lifting hook rotating device; the multi-axis mechanical arm is mounted at the bottom of the cross beam and located on one side of the lifting hook; the grabbing mechanism is arranged on an end effector of the multi-axis mechanical arm; the camera is fixedly arranged at the bottom of the crossbeam; the number of the cameras is one or more. By adopting the lifting appliance for automatically carrying the ton bags, automatic hooking and unhooking in the ton bag carrying process can be effectively realized, and the automation degree of equipment is improved.

Description

Technical Field

[0001] This utility model relates to the field of automated handling of ton bags, and in particular to a lifting device for automated handling of ton bags. Background Technology

[0002] In logistics, warehousing, and port operations, the handling of ton bags is a crucial task. Current methods primarily rely on manual hooking, mechanical handling, and manual unhooking, which is not only complex and labor-intensive but also inefficient and potentially dangerous. With the increasing demand for automated logistics handling, developing a lifting device capable of automatically hooking, handling, and unhooking ton bags is of paramount importance. Existing equipment still has significant room for improvement in terms of automation, ease of operation, and safety. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing an automatic lifting device for handling ton bags, which can effectively achieve automatic hooking and unhooking during the handling process of ton bags, thereby improving the automation level of the equipment.

[0004] To achieve the above objectives, the technical solution provided by this utility model is as follows:

[0005] An automated lifting device for handling ton bags includes a crossbeam, a hook, a hook rotating device, a camera, a multi-axis robotic arm, a gripping mechanism, and a lifting mechanism. The crossbeam is mounted on a traveling trolley and can be moved up and down via the lifting mechanism. The hook is rotatably mounted at the bottom of the crossbeam via the hook rotating device. The multi-axis robotic arm is mounted at the bottom of the crossbeam and located on one side of the hook. The gripping mechanism is mounted on the end effector of the multi-axis robotic arm. The camera is fixedly mounted at the bottom of the crossbeam. There are one or more cameras.

[0006] The straps of the ton bags to be transported are difficult to hook because they hang directly from the top of the bags. This invention uses a camera to position the straps, and then a multi-axis robotic arm uses a gripping mechanism to grab them, making it easy to hang the bags with a hook. At the same time, a hook rotation device drives the hook to rotate, achieving automatic unhooking after the transport is completed.

[0007] The number of cameras should be adjusted according to the size of the beam and the camera's shooting range, so that the cameras can capture and identify all the ton bags to be moved.

[0008] Furthermore, the aforementioned hook rotation device includes a geared motor and a pin; the geared motor is fixedly installed at the bottom of the crossbeam; the hook is fixedly connected to the pin via a flat key, and the pin is connected to the geared motor via a coupling, with the geared motor driving the hook to rotate via the pin.

[0009] Furthermore, the aforementioned lifting mechanism includes a pulley block and a steel wire rope; the pulley block includes multiple fixed pulleys, which are evenly installed above the crossbeam by high-strength bolts; each fixed pulley is fitted with a steel wire rope, and the trolley controls the lifting and lowering of the crossbeam by raising and lowering the steel wire rope.

[0010] The trolley is equipped with a lifting drive mechanism, which includes a base, a motor, a drive shaft, a reducer, and a drum. The base is used to connect with the bottom frame of the trolley. The motor, drive shaft, and reducer are mounted on the base. The drum is mounted on the reducer, and the central axis of the drum coincides with the central axis of the reducer output shaft. One end of the wire rope is fixed to the drum, and the wire rope is spirally wound around the outer wall of the drum.

[0011] Wire rope contraction control: The motor rotates and drives the reducer to rotate through the drive shaft. The reducer rotates and drives the drum to rotate. The wire rope is sleeved on the drum, which drives the wire rope to contract and extend, thereby achieving the lifting effect.

[0012] Furthermore, the hook rotation device is also equipped with a hook rotation limiting device; the hook rotation limiting device uses two limiting bars, which are respectively set on both sides of the hook along the direction of hook rotation. The hook rotation limiting device controls the rotation angle of the hook and prevents excessive rotation.

[0013] Furthermore, the bottom of the aforementioned crossbeam is equipped with multiple sets of hooks and hook rotating devices. By using multiple sets of hooks, the overhead crane can simultaneously transport multiple ton bags in a single operation.

[0014] Furthermore, the bottom of the aforementioned crossbeam is equipped with multiple sets of multi-axis robotic arms and gripping mechanisms; each multi-axis robotic arm is surrounded by multiple sets of hooks and hook rotating devices. Each multi-axis robotic arm controls multiple sets of hooks to sequentially hook the ton bags.

[0015] Furthermore, the aforementioned crossbeam adopts a steel structure frame, with connectors installed at the bottom of the frame, and the hook is rotatably mounted on the connector via a pin; the hook rotation limit device is fixedly installed on the connector.

[0016] Furthermore, the bottom of the aforementioned crossbeam is also equipped with protective columns. When the crossbeam descends, the protective columns protect the multi-axis robotic arm from impacts caused by excessive descent speed.

[0017] Furthermore, the aforementioned gripping mechanism employs grippers with gripping function or electromagnet sheets with magnetic attraction function. When electromagnet sheets are used, magnetic material is also installed on the ton bag straps.

[0018] This invention has the following advantages over the prior art:

[0019] This invention achieves automatic hooking, handling, and unhooking of ton bags, reducing manual intervention and improving work efficiency. Simultaneously, it utilizes camera-based positioning and the crane's built-in control system for operation, avoiding safety hazards caused by misoperation and equipment malfunction. Furthermore, the entire lifting device features a robust design with crossbeams and protective columns, ensuring reliable operation even in complex working conditions. This lifting device is adaptable to various ton bag sizes and different operating scenarios, offering strong flexibility. The components used in this invention have a simple structure, are easy to install and maintain, and reduce operating costs. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the lifting device for automatic handling of ton bags according to this utility model;

[0021] Figure 2 for Figure 1 Schematic diagram of the middle hook structure;

[0022] In the diagram, 1-bag strap, 2-hook, 3-pin, 4-gear motor, 5-hook rotation limit device, 6-grabbing mechanism, 7-multi-axis robotic arm, 8-protective column, 9-camera, 10-beam, 11-pulley block, 12-wire rope. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings.

[0024] like Figure 1 As shown, the lifting device for automatic handling of ton bags of this utility model includes a hook 2, a pin 3, a geared motor 4, a hook rotation limit device 5, a gripping mechanism 6, a multi-axis robotic arm 7, a protective column 8, a camera 9, a crossbeam 10, a pulley block 11, and a wire rope 12.

[0025] The crossbeam 10 uses a steel frame structure, with connectors installed at the bottom of the frame to support the lifting hook. Figure 2 The hook 2 and the pin 3 are fixed and rotated by a flat key, and the pin 3 is connected to the geared motor 4 by a coupling. A hook rotation limit device 5 is installed on the connecting part to limit the rotation angle of the hook 2.

[0026] The gripping mechanism 6 is mounted on the end effector of the multi-axis robotic arm 7; the base of the multi-axis robotic arm 7 is reliably connected to the crossbeam 10 via several high-strength bolts. The gripping mechanism 6 uses an electromagnet with magnetic attraction or a gripper with gripping function. When the gripping mechanism 6 uses an electromagnet with magnetic attraction, a magnetic material is provided in the middle of the ton bag strap 1. The number of gripping mechanisms and the corresponding multi-axis robotic arms can be adjusted according to the size of the crossbeam. In this embodiment, two sets of multi-axis robotic arms are equipped with eight sets of hooks as an example. Each set of multi-axis robotic arms has a set of hooks and a matching geared motor and pin at each of the four corners of its perimeter, that is, one set of multi-axis robotic arms and gripping mechanism sequentially hooks four ton bags.

[0027] Cameras 9 are bolted to the crossbeam 10, and the number should be set so that the shooting range can cover the ton bags to be transported. Protective columns 8 are fixed to the lower part of the crossbeam 10, and their height is higher than the height of the multi-axis robotic arm 7 in the retracted state, so as to protect the multi-axis robotic arm from impacts during excessive descent.

[0028] The pulley block 11 is fixedly connected to the upper part of the crossbeam 10; the wire rope 12 is installed inside the pulley block 11, and the height of the entire lifting device is controlled by the winding and unwinding of the wire rope through the trolley.

[0029] The specific implementation process of this utility model of a lifting device for automatic handling of ton bags:

[0030] The crane, following instructions from the dispatch system, arrives above the designated ton bag to be transported. A camera below the crossbeam starts capturing images to determine the position of the ton bag strap 1. Based on the coordinates of the strap's position obtained from the images, the dispatch system controls the gripping mechanism 6 at the execution end of the multi-axis robotic arm 7 to grasp the ton bag strap. After the ton bag strap is grasped and lifted to a designated height, the dispatch system drives the reduction motor 4 to rotate, causing the hook head to pass through the gap between the ton bag strap and the ton bag body. At this point, the camera starts capturing images again to determine if the hook has caught the strap (i.e., whether the strap is located at the center of the hook). If it has caught, the dispatch system drives the gripping mechanism at the end of the robotic arm to release it (if the gripping mechanism is an electromagnet, it is de-energized). The ton bag strap falls into the hook head due to gravity, completing the hooking process. If it has not caught, the dispatch system restarts the reduction motor to rotate and re-hook the strap. Repeat the above steps to hook the ton bags until each hook is hooked with a ton bag or all the ton bags to be transported are hooked. After that, the dispatching system will dispatch the overhead crane to lift the ton bags to the designated position and drive the geared motor to reverse, thereby causing the hook to reverse and complete the unhooking of the ton bag straps.

[0031] The above description is merely a preferred embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be conceived by those skilled in the art within the technical scope disclosed in this utility model without creative effort should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope defined in the claims.

Claims

1. A lifting device for automatic handling of ton bags, characterized in that, The system includes a crossbeam, a hook, a hook rotating device, a camera, a multi-axis robotic arm, a gripping mechanism, and a lifting mechanism. The crossbeam is mounted on a traveling trolley and can be moved up and down via the lifting mechanism. The hook is rotatably mounted at the bottom of the crossbeam via the hook rotating device. The multi-axis robotic arm is mounted at the bottom of the crossbeam and located on one side of the hook. The gripping mechanism is mounted on the end effector of the multi-axis robotic arm. The camera is fixedly mounted at the bottom of the crossbeam. There are one or more cameras.

2. The lifting device for automatic handling of ton bags according to claim 1, characterized in that, The hook rotating device includes a geared motor and a pin; the geared motor is fixedly installed at the bottom of the crossbeam; the hook is fixedly connected to the pin via a key, and the pin is connected to the geared motor via a coupling, and the geared motor drives the hook to rotate via the pin.

3. The lifting device for automatic handling of ton bags according to claim 2, characterized in that, The lifting mechanism includes a pulley block and a steel wire rope; the pulley block includes multiple fixed pulleys, which are evenly installed above the crossbeam by high-strength bolts; each fixed pulley is fitted with a steel wire rope, and the trolley is equipped with a lifting drive mechanism connected to the steel wire rope.

4. The lifting device for automatic handling of ton bags according to claim 3, characterized in that, The lifting drive mechanism of the trolley includes a base, a motor, a drive shaft, a reducer, and a drum; the motor, drive shaft, and reducer are mounted on the bottom frame of the trolley via the base; the drum is mounted on the reducer, and the central axis of the drum coincides with the central axis of the reducer output shaft; one end of the wire rope on the fixed pulley is fixed to the drum, and the wire rope is spirally wound around the outer wall of the drum.

5. The lifting device for automatic handling of ton bags according to claim 4, characterized in that, The hook rotation device is also equipped with a hook rotation limiting device; the hook rotation limiting device uses two limiting bars, which are respectively set on both sides of the hook along the hook rotation direction.

6. The lifting device for automatic handling of ton bags according to claim 5, characterized in that, The bottom of the crossbeam is equipped with multiple sets of hooks and hook rotating devices.

7. The lifting device for automatic handling of ton bags according to claim 6, characterized in that, The bottom of the crossbeam is equipped with multiple sets of multi-axis robotic arms and gripping mechanisms; multiple sets of hooks and hook rotating devices are evenly distributed around each multi-axis robotic arm.

8. The lifting device for automatic handling of ton bags according to claim 7, characterized in that, The crossbeam adopts a steel structure frame, and a connector is installed at the bottom of the frame. The hook is rotatably mounted on the connector via a pin. The hook rotation limiting device is fixedly installed on the connector.

9. The lifting device for automatic handling of ton bags according to claim 8, characterized in that, The bottom of the crossbeam is also equipped with protective columns.

10. The lifting device for automatic handling of ton bags according to claim 9, characterized in that, The gripping mechanism uses grippers with gripping function or electromagnets with magnetic attraction function.

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