Grabbing device, grabbing system and car loader

Abstract

The utility model provides a grabbing device, a grabbing system and a car loader, which comprise two grabbing plates, and further comprise a grabbing driving assembly, a main plate, a grabbing frame, a grabbing sliding block and two grabbing transmission assemblies, the main plate is parallel to an XOY plane and is connected with the grabbing frame, and the grabbing sliding block is connected with the two grabbing transmission assemblies. The grabbing transmission assembly comprises a grabbing connecting rod, a grabbing driving crank and a grabbing driving rotating shaft, the grabbing sliding block is installed on the grabbing frame in a sliding mode, the grabbing connecting rod is rotationally connected with the grabbing sliding block and the grabbing driving crank, the grabbing driving crank is rotationally connected with the grabbing driving rotating shaft, and the grabbing driving rotating shaft is rotationally connected with the grabbing sliding block. The grabbing driving rotating shaft is connected with the main plate, the axis of the grabbing driving rotating shaft is parallel to the X axis, the grabbing driving crank is connected with the grabbing plate, and the grabbing driving assembly is installed on the grabbing frame and drives the grabbing sliding block to ascend and descend along the Z axis. The reliability of the car loader can be improved.

Description

Technical Field

[0001] This utility model relates to the field of bagged goods loading technology, and in particular to a gripping device, gripping system and loading machine. Background Technology

[0002] Currently, most cement plants still use manual loading methods when loading bagged cement onto trucks. This method suffers from drawbacks such as high labor intensity and low loading efficiency. Some cement plants use semi-automatic loading machines. These machines typically include guide rails fixed to the plant building, a horizontal conveyor mounted on the guide rails, a traveling device mounted on the guide rails and connected to the output end of the horizontal conveyor, and an inclined conveyor. One end of the inclined conveyor is connected to the output end of the horizontal conveyor, and the other end is suspended from the traveling device by a steel wire rope.

[0003] The semi-automatic loading machine operates as follows: First, the walking device moves the output end of the inclined conveyor to the loading position. Then, the horizontal and inclined conveyors are activated to transport the bagged cement to the output end of the inclined conveyor. Next, workers transfer the bagged cement from the inclined conveyor to the vehicle, completing a multi-layer stack. After completing one stack, the walking device moves the output end of the inclined conveyor to the next stacking position, and the stacking continues in a cycle. During the stacking process, when the height of the inclined conveyor's output end needs to be raised, the height is adjusted by pulling a steel cable. This semi-automatic loading machine has the following problems in actual use: the labor intensity for workers is still relatively high, the loading efficiency is still low, and the working environment for workers is very harsh, which is detrimental to their health.

[0004] In view of this, Chinese patent (CN105692249A) proposes a fully automatic intelligent loading system and method for bagged cement, disclosing a gripping and stacking mechanism. This mechanism includes two gripping units arranged opposite each other. Each gripping unit includes a control cylinder, a movable shaft, a cylinder floating joint, a connecting shaft, grippers, and a gripper fixing template. The grippers are mounted on the lower end of the gripper fixing template via the movable shaft, and the control cylinder is mounted on the upper end of the gripper fixing template. A fixing block is provided on the outer side of the grippers, and the fixing block has a first oblong hole. The cylinder floating joint of the control cylinder is located within the first oblong hole via the connecting shaft. However, because it uses two independent gripping units to grip and release cement bags, the synchronization between the two gripping units is poor. This can easily lead to problems such as the grippers not releasing cement bags simultaneously or gripping cement bags at the same time, resulting in gripping failures and reducing the reliability of the loading machine.

[0005] In view of this, the present invention proposes a gripping device, a gripping system, and a loading machine to improve the reliability of the loading machine. Utility Model Content

[0006] The purpose of this invention is to provide a gripping device, gripping system, and loading machine to solve the problem of poor reliability of existing loading machines.

[0007] To solve the above-mentioned technical problems, this utility model provides a gripping device, including two gripping plates, a gripping drive assembly, a main board, a gripping frame, a gripping slider, and two gripping transmission assemblies. The main board is parallel to the XOY plane and connected to the gripping frame. The gripping transmission assembly includes a gripping linkage, a gripping drive crank, and a gripping drive shaft. The gripping slider is slidably connected to the gripping frame. The gripping linkage is rotatably connected to both the gripping slider and the gripping drive crank. The gripping drive crank is rotatably connected to the gripping drive shaft. The gripping drive shaft is connected to the main board, and its axis is parallel to the X-axis. The gripping drive crank is connected to the gripping plates. The gripping drive assembly is mounted on the gripping frame and drives the gripping slider to move up and down along the Z-axis.

[0008] Optionally, the motherboard has two first structural sides parallel to the XOZ plane, and the gripping active rotating shaft has a first mounting surface. A first mounting surface and a first structural side form a group, and the first structural side in each group is aligned with and in contact with the first mounting surface.

[0009] Optionally, the gripping transmission assembly further includes a gripping driven crank and a gripping driven shaft. The gripping driven shaft is mounted on the main board, and the gripping driven crank is rotatably mounted on the gripping driven shaft. The axis of the gripping driven shaft is coaxial with the axis of the gripping driving shaft, and the gripping driven crank is connected to the gripping plate.

[0010] Optionally, the motherboard has two second structural sides parallel to the XOZ plane, and the gripping driven shaft has a second mounting surface. A second mounting surface and a second structural side form a group. Each group of second structural sides is aligned with and in contact with the second mounting surface, and the second structural side and the corresponding first structural side are located on the same plane.

[0011] Optionally, the first structure has a first groove along the Y direction on its side for mounting the gripping active shaft and the gripping active crank, and the second structure has a second groove along the Y direction on its side for mounting the gripping driven shaft and the gripping driven crank.

[0012] Optionally, both ends of the gripping active rotating shaft have a first mounting surface, which is aligned with and in contact with the side of the first structure; both ends of the gripping driven rotating shaft have a second mounting surface, which is aligned with and in contact with the side of the second structure.

[0013] This utility model also provides a gripping system, including a connecting frame, a bag conveying device, a gripping device mounted on the connecting frame as described above, and a gripping rotation driver for driving the connecting frame to rotate in order to drive the gripping device to rotate, wherein the bag conveying device is located on the rotation path of the gripping device.

[0014] Optionally, the bag conveying device conveys the bag along a first direction, and the bag conveying device is provided with a limiting member located on the conveying path of the bag. When the gripping device rotates above the bag conveying device, the axis of the gripping active crank is set along the first direction.

[0015] Optionally, the number of gripping devices is two, and the two gripping devices are perpendicular to each other.

[0016] This utility model also provides a loading machine, including a movable frame, a stacking device mounted on the movable frame for vertically lowering packages, a gripping system mounted on the movable frame as described above, and a package transfer device for conveying packages to the stacking device along a first direction. The package transfer device is located on the rotation path of the gripping device, and the stacking device is connected to the output end of the package transfer device.

[0017] The gripping device, gripping system, and loading machine provided by this utility model have the following beneficial effects:

[0018] Since the gripping drive assembly drives the gripping slider to rise and fall, and the gripping slider in turn drives the gripping drive crank to rotate synchronously, the gripping drive assembly can synchronously drive the gripping drive crank to rotate, thereby synchronously driving the gripping plate to rotate. This avoids gripping failures caused by the gripping plate not simultaneously releasing or gripping the material bag, thus improving the reliability of the loading machine. Because the main board is parallel to the XOY plane, and the gripping drive shaft is connected to the main board with its axis parallel to the X-axis, the two gripping drive shafts can be positioned using the same main board. The parallelism of the two gripping drive shafts after installation is easily guaranteed, thereby improving the smoothness of the gripping transmission assembly and thus improving the reliability of the gripping device. Attached Figure Description

[0019] Figure 1 This is an isometric view of the gripping device in Embodiment 1 of this utility model;

[0020] Figure 2 This is a front view of the gripping device in Embodiment 1 of this utility model;

[0021] Figure 3 This is a partial isometric view of the gripping device in Embodiment 1 of this utility model;

[0022] Figure 4 This is an isometric view of the gripping plate of the gripping device in the material release state in Embodiment 1 of this utility model;

[0023] Figure 5 This is an isometric view of the gripping plate of the gripping device in the gripping bag state in Embodiment 1 of this utility model;

[0024] Figure 6 This is a front view of the grasping system in Embodiment 2 of this utility model;

[0025] Figure 7 This is a top view of the grasping system in Embodiment 2 of this utility model;

[0026] Figure 8 This is an isometric view of the gripping system in Embodiment 2 of this utility model;

[0027] Figure 9 This is a front view of the loading machine in Embodiment 3 of this utility model;

[0028] Figure 10 This is a side view of the loading machine in Embodiment 3 of this utility model;

[0029] Figure 11 This is a top view of the loading machine in Embodiment 3 of this utility model;

[0030] Figure 12 This is an isometric view of the loading machine in Embodiment 3 of this utility model;

[0031] Figure 13 This is a partial structural schematic diagram of the palletizing device in Embodiment 3 of this utility model;

[0032] Figure 14 This is a schematic diagram of the main structure of the palletizing gate of the palletizing device in Embodiment 3 of this utility model;

[0033] Figure 15 This is a schematic diagram of the stacking gate of the stacking device in Embodiment 3 of this utility model;

[0034] Figure 16 This is a structural schematic diagram of the palletizing device in Embodiment 3 of this utility model from one perspective;

[0035] Figure 17 This is a structural schematic diagram of the palletizing device from another perspective in Embodiment 3 of this utility model;

[0036] Figure 18 This is a top view of the palletizing device in Embodiment 3 of this utility model;

[0037] Figure 19This is a schematic diagram of the main structure of the palletizing device in Embodiment 3 of this utility model.

[0038] Explanation of reference numerals in the attached figures:

[0039] 100-Gripping system; 110-Gripping device; 111-Gripping drive assembly; 111-a-Gripping drive motor; 111-b-Gripping lead screw; 112-Main board; 112-a-First structural side; 113-Gripping frame; 113-a-Gripping support plate; 113-b-Gripping base plate; 113-d-Gripping first side plate; 113-e-Gripping cover plate; 113-f- Dustproof plate; 113-h-reinforcing plate; 113-i-grip guide post; 114-grip transmission assembly; 114-b-grip connecting rod; 114-c-grip drive crank; 114-d-grip drive shaft; 114-f-grip driven crank; 114-g-grip driven shaft; 115-grip plate; 116-grip slider; 120-connecting frame; 140-grip rotary actuator;

[0040] 200 - Material bag conveying device;

[0041] 300-Platform stacking device; 310-Platform stacking bracket; 320-Gate bracket; 321-Gate base plate; 322-Gate cover plate; 323-First gate side plate; 324-Second gate side plate; 325-Gate side plate; 326-Gate support plate; 327-Gate guide post; 330-Gate drive device; 331-Gate drive motor; 332-Gate screw; 340-Gate slider; 350-Gate transmission assembly; 351-Gate connecting rod; 352-Gate drive crank; 353-Gate drive shaft; 354-Gate driven crank; 355-Gate driven shaft; 360-Gate plate; 370-Platform stacking rotation drive device;

[0042] 380 - Palletizing frame; 381 - Palletizing lifting motor; 383 - Palletizing lifting gear; 384 - Palletizing lifting rack;

[0043] 391-Palletizing guide rail; 392-Palletizing translation roller; 393-Palletizing translation rack; 395-Palletizing translation drive motor;

[0044] 400 - Material bag transfer device. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0046] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0047] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0048] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0049] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0050] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0051] Example 1

[0052] refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 , Figure 1 This is an isometric view of the gripping device 110 in Embodiment 1 of this utility model. Figure 2This is a front view of the gripping device 110 in Embodiment 1 of this utility model. Figure 3 This is a partial isometric view of the gripping device 110 in Embodiment 1 of this utility model. Figure 4 This is an isometric view of the gripping plate 115 of the gripping device 110 in the material release state in Embodiment 1 of this utility model. Figure 5 This is an isometric view of the gripping device 110 in Embodiment 1 of this utility model, showing the gripping plate 115 in the gripping bag state. This embodiment provides a gripping device 110, including a gripping drive assembly 111, a main board 112, a gripping frame 113, a gripping slider 116, two gripping transmission assemblies 114, and two gripping plates 115. The main board 112 is parallel to the XOY plane and connected to the gripping frame 113. The gripping transmission assembly 114 includes a gripping connecting rod 114-b, a gripping active crank 114-c, and a gripping active rotating shaft 114-d. The gripping slider 116 is slidably mounted. On the gripping frame 113, the gripping connecting rod 114-b is rotatably connected to the gripping slider 116 and the gripping active crank 114-c, respectively. The gripping active crank 114-c is rotatably connected to the gripping active rotating shaft 114-d. The gripping active rotating shaft 114-d is connected to the main board 112 and the axis of the gripping active rotating shaft 114-d is parallel to the X-axis. The gripping active crank 114-c is connected to the gripping plate 115. The gripping drive assembly 111 is mounted on the gripping frame 113 and drives the gripping slider 116 to move up and down along the Z-axis.

[0053] Since the gripping drive assembly 111 drives the gripping slider 116 to rise and fall, and the gripping slider 116 drives the gripping drive crank 114-c to rotate synchronously, the gripping drive assembly 111 can synchronously drive the gripping drive crank 114-c to rotate, thereby synchronously driving the gripping plate 115 to rotate. This avoids gripping failures caused by the gripping plate 115 failing to release or grip the material bag simultaneously, thus improving the reliability of the loading machine. Since the main board 112 is parallel to the XOY plane, and the gripping drive shaft 114-d is connected to the main board 112 with its axis parallel to the X-axis, the two gripping drive shafts 114-d can be positioned using the same main board 112. The parallelism of the two gripping drive shafts 114-d after installation is easily guaranteed, thereby improving the smoothness of the gripping transmission assembly 114's movement and thus improving the reliability of the gripping device 110.

[0054] In this embodiment, the two gripping transmission components are symmetrically arranged about the gripping slider 116. The two gripping plates 115 are symmetrically arranged about the gripping slider 116.

[0055] In this embodiment, the gripping active crank 114-c includes a gripping rotating rod and a gripping bushing. The gripping rotating rod is fixedly connected to the gripping bushing, and the gripping rotating rod is rotatably connected to the gripping connecting rod 114-b. The gripping bushing is rotatably connected to the gripping active rotating shaft 114-d.

[0056] The motherboard 112 has two first structural side surfaces 112-a parallel to the XOZ plane, and the gripping active rotating shaft 114-d has a first mounting surface. Each first mounting surface and one first structural side surface 112-a forms a group. Within each group, the first structural side surface 112-a is aligned with and in contact with the first mounting surface. Thus, by ensuring the parallelism of the two first structural side surfaces 112-a, the perpendicularity of the two first structural side surfaces 112-a relative to the XOY plane, and the parallelism of the first mounting surface, the active crankshaft mounted on the two gripping active rotating shafts 114-d can achieve better coaxiality compared to directly mounting a single shaft parallel to the Y-plane. With two holes set in the large plate of the OZ plane, and the gripping active rotating shaft 114-d set in the two holes, and the active crankshaft installed, the coaxiality of the two gripping active rotating shafts 114-d is easier to ensure, which can effectively reduce the processing difficulty and save manufacturing costs. The parallelism of the axes of the two gripping active rotating shafts 114-d is easier to ensure, which can improve the reliability of the gripping device 110. In addition, the way the first structural side 112-a contacts the first mounting surface can improve the structural rigidity, reduce the vibration during the movement, and the alignment of the contact surfaces provides a self-positioning function, which can simplify the assembly process, improve consistency, and the multi-faceted contact can disperse stress and extend service life.

[0057] The gripping transmission assembly 114 further includes a gripping driven crank 114-f and a gripping driven shaft 114-g. The gripping driven shaft 114-g is mounted on the main board 112, and the gripping driven crank 114-f is rotatably mounted on the gripping driven shaft 114-g. The axis of the gripping driven shaft 114-g is coaxial with the axis of the gripping driving shaft 114-d. The gripping driven crank 114-f is connected to the gripping plate 115. In other words, the crank that drives the gripping plate 115 to rotate is divided into two sections, one driving section and one driven section. Compared with a crank structure with only one section, this avoids the problem of crank bending and difficulty in ensuring coaxiality caused by excessively long cranks, reduces manufacturing difficulty, and saves costs. In addition, both the active crank 114-c and the driven crank 114-f are mounted on the same main board 112, thus ensuring coaxiality while giving the gripping plate 115 good support rigidity.

[0058] The mainboard 112 has two second structural sides parallel to the XOZ plane. The gripping driven shaft 114-g has a second mounting surface. Each second mounting surface and a second structural side forms a group. Each group of second structural sides is aligned with and in contact with the second mounting surface, and the second structural side and its corresponding first structural side 112-a are located on the same plane. Thus, ensuring that the second structural side and its corresponding first structural side 112-a are on the same plane is sufficient to achieve good coaxiality between the gripping active shaft 114-d and the gripping driven shaft 114-g, simplifying manufacturing and effectively reducing costs. Furthermore, making the mounting surfaces of the gripping active shaft 114-d and the gripping driven shaft 114-g coplanar ensures strict coaxiality between the two shafts, reducing assembly errors. Additionally, the second structural side provides extra support, enhancing rigidity, suppressing vibration, and improving motion stability. Moreover, the first structural side 112-a and the second structural side form a double mounting surface to distribute the load, reducing local stress concentration and making it suitable for gripping heavy packages.

[0059] Specifically, the first structural side 112-a has a first groove along the Y direction for mounting the gripping active shaft 114-d and the gripping active crank 114-c, and the second structural side has a second groove along the Y direction for mounting the gripping driven shaft 114-g and the gripping driven crank 114-f. Thus, the first structural side 112-a and the second structural side can be milled in one operation to create the first and second grooves, reducing machining difficulty and ensuring better coaxiality between the gripping active shaft 114-d and the gripping driven shaft 114-g.

[0060] Both ends of the gripping active rotating shaft 114-d have a first mounting surface, which is aligned with and in contact with the side surface 112-a of the first structure.

[0061] Both ends of the gripping driven shaft 114-g have second mounting surfaces, which are aligned with and in contact with the side of the second structure.

[0062] A dustproof sealing ring is provided between the gripping active crank 114-c and the gripping active shaft 114-d to prevent dust from accumulating between them and reducing their service life. Similarly, a dustproof sealing ring is provided between the gripping driven crank 114-f and the gripping driven shaft 114-g to prevent dust from accumulating between them and reducing their service life.

[0063] The gripping frame 113 includes a gripping support plate 113-a, a gripping base plate 113-b, a gripping first side plate 113-d, a gripping cover plate 113-e, a dustproof plate 113-f, and two gripping second side plates. The main board 112 has a first plane and a second plane parallel to the XOY plane. The gripping support plate 113-a is parallel to the YOZ plane and is fixedly connected to the first plane. The gripping base plate 113-b is parallel to the XOY plane and is fixedly connected to the gripping support plate 113-a. The gripping first side plate 113-d is arranged parallel to the gripping support plate 113-a. The two gripping second side plates are arranged parallel to the XOZ plane. The gripping cover plate 113-e covers the gripping first side plate 113-d and the two gripping second side plates. The dustproof plate 113-f is parallel to the YOZ plane and is installed on the second plane of the main board 112.

[0064] Preferably, the motherboard 112 and the gripping support plate 113-a are welded together.

[0065] Preferably, a reinforcing plate 113-h connects the dustproof plate 113-f to the main board 112. A reinforcing rib is provided between the gripping support plate 113-a and the main board 112.

[0066] Preferably, the gripping frame 113 further includes a gripping guide post 113-i, which is mounted on the gripping frame 113. The gripping slider 116 is slidably connected to the gripping guide post 113-i. This facilitates the synchronous rotation of the gripping active crank 114-c and improves the reliability of the gripping transmission assembly 114.

[0067] The gripping drive assembly 111 includes a gripping drive motor 111-a and a gripping lead screw 111-b. The gripping drive motor 111-a is mounted on the gripping frame 113 and its output end is connected to the gripping lead screw 111-b. The gripping lead screw 111-b is threadedly connected to the gripping slider 116. Thus, the gripping drive motor 111-a drives the gripping lead screw 111-b to rotate, thereby driving the gripping slider 116 to rise and fall. The gripping slider 116 then drives the gripping connecting rod 114-b to move, which in turn drives the gripping drive crank 114-c to rotate, and the gripping drive crank 114-c drives the gripping plate 115 to rotate. In other embodiments, the gripping drive assembly 111 may be a cylinder, or may include a motor, a reducer and a gear and rack mechanism, wherein the output end of the motor is connected to the input end of the reducer, the output end of the reducer drives the gear to rotate, the gear drives the rack meshing with it to rise and fall, and the rack drives the gripping slider 116 to rise and fall.

[0068] Example 2

[0069] refer to Figure 6 , Figure 7 and Figure 8 , Figure 6 This is a front view of the grasping system 100 in Embodiment 2 of this utility model. Figure 7 This is a top view of the grasping system 100 in Embodiment 2 of this utility model. Figure 8 This is an isometric view of the gripping system 100 in Embodiment 2 of this utility model. This embodiment provides a gripping system 100, including a connecting frame 120, a material bag conveying device 200, a gripping device 110 installed on the connecting frame 120 in Embodiment 1 above, and a gripping rotation driver 140 for driving the connecting frame 120 to rotate in order to drive the gripping device 110 to rotate. The material bag conveying device 200 is located on the rotation path of the gripping device 110. In this way, the bag on the bag conveying device 200 can be transferred to a predetermined position, such as to the palletizing device 300, by the gripping device 110, so that the palletizing device 300 can stack the bag. Since the bag conveying device 200 is located on the rotation path of the gripping device 110, the gripping device 110 can grip the bag from the bag conveying device 200. Therefore, when the two gripping plates 115 of the gripping device 110 grip the bag, the bag can be positioned in one direction, which can improve the subsequent palletizing effect and improve the reliability of the loading machine.

[0070] Furthermore, the bag conveying device 200 conveys the bag along a first direction. The bag conveying device 200 is equipped with a limiting member located on the conveying path of the bag. When the gripping device 110 rotates above the bag conveying device 200, the axis of the gripping drive crank 114-c is aligned along the first direction. Thus, the limiting member prevents the bag from moving further along the first direction after reaching a designated position, effectively positioning the bag in the first direction. When the gripping device 110 rotates above the bag conveying device 200, since the axis of the gripping drive crank 114-c is aligned along the first direction, the gripping plate 115 can position the bag in a second direction perpendicular to the first direction. In this way, the gripping device 110 and the limiting member work together to limit the bag in two directions, ensuring a uniform position after the bag is gripped by the gripping device 110. This improves the subsequent palletizing effect and enhances the reliability of the loading machine.

[0071] Example 3

[0072] refer to Figure 9 , Figure 10 , Figure 11 and Figure 12 , Figure 9 This is a front view of the loading machine in Embodiment 3 of this utility model. Figure 10 This is a side view of the loading machine in Embodiment 3 of this utility model. Figure 11This is a top view of the loading machine in Embodiment 3 of this utility model. Figure 12 This is an isometric view of the loading machine in Embodiment 3 of this utility model. This embodiment provides a loading machine including a movable frame, a stacking device 300 mounted on the movable frame for vertically lowering packages, a gripping system 100 mounted on the movable frame as described in Embodiment 2, and a package transfer device 400 for conveying packages along a first direction to the stacking device 300. The package transfer device 400 is located on the rotation path of the gripping device 110, and the stacking device 300 is connected to the output end of the package transfer device 400. The packages gripped by the gripping device 110 are conveyed to the package transfer device 400 by the sliding of the stacking device 300, and then conveyed to a designated position for stacking, thereby completing the stacking process.

[0073] Preferably, there are two gripping devices 110, which are perpendicular to each other, and there are two material bag transfer devices 400 and two palletizing devices 300. In this way, the gripping devices 110 can alternately transport material bags for the two material bag transfer devices 400, and the material bag transfer devices 400 can transport material bags for the palletizing devices 300. Specifically, the two gripping devices 110 are the first gripping device and the second gripping device, the two bag transfer devices 400 are the first bag transfer device and the second bag transfer device, and the two palletizing devices 300 are the first palletizing device and the second palletizing device. When the first gripping device is above the bag conveying device 200, the second gripping device is above the first bag transfer device. The two gripping devices 110 are rotated 90° counterclockwise so that the first gripping device is above the second bag transfer device and the second gripping device is above the bag conveying device 200. Then, the two gripping devices 110 are rotated 90° clockwise so that the second gripping device is above the first bag transfer device and the first gripping device is above the bag conveying device 200. When the gripping device 110 is above the bag transfer device 400, it can release the bag; when the gripping device 110 is above the bag conveying device 200, it can grip the bag. In this way, two conveyor lines for conveying bags to the palletizing device 300 are formed, improving palletizing efficiency.

[0074] refer to Figure 13 , Figure 14 , Figure 15 , Figure 16 , Figure 17 , Figure 18 and Figure 19 , Figure 13 This is a partial structural schematic diagram of the palletizing device 300 in Embodiment 3 of this utility model. Figure 14This is a front view schematic diagram of the palletizing gate of the palletizing device 300 in Embodiment 3 of this utility model. Figure 15 This is a schematic diagram of the stacking gate of the stacking device 300 in Embodiment 3 of this utility model. Figure 16 This is a structural schematic diagram of the palletizing device 300 from one perspective in Embodiment 3 of this utility model. Figure 17 This is a structural schematic diagram of the palletizing device 300 from another perspective in Embodiment 3 of this utility model. Figure 18 This is a top view of the palletizing device 300 in Embodiment 3 of this utility model. Figure 19 This is a front view schematic diagram of the palletizing device 300 in Embodiment 3 of this utility model. The palletizing device 300 includes a palletizing bracket 310, a palletizing rotation drive device 370, a gate bracket 320, a gate drive device 330, a gate slider 340, two gate transmission assemblies 350, and two gate plates 360. The gate transmission assembly 350 includes a gate connecting rod 351, a gate drive crank 352, and a gate drive shaft 353. The gate slider 340 is slidably mounted on the gate bracket 320. The gate connecting rod 351 rotates with the gate slider 340 and the gate drive crank 352 respectively. The gate is rotatably connected to the gate active crank 352 and the gate active rotating shaft 353. The gate active rotating shaft 353 is connected to the gate bracket 320. The gate active crank 352 is connected to the gate plate 360. The gate drive device 330 is mounted on the gate bracket 320 and drives the gate slider 340 to move up and down in a predetermined direction. The stacking rotation drive device 370 is mounted on the stacking bracket 310. The gate bracket 320 is rotatably mounted on the stacking bracket 310. The output end of the stacking rotation drive device 370 is connected to the gate bracket 320.

[0075] The gate drive device 330 drives the gate slider 340 to rise and fall in a predetermined direction, thereby driving the gate connecting rod 351 to move. The gate connecting rod 351 then drives the gate drive crank 352 to rotate relative to the gate drive shaft 353, which in turn drives the gate plate 360 ​​to rotate. This achieves synchronous rotation of the two gate plates 360, allowing the two gates to lift or release the material bags, thus achieving the purpose of palletizing. Since the palletizing rotation drive device 370 is mounted on the palletizing bracket 310, and the gate bracket 320 is rotatably mounted on the palletizing bracket 310, with the output end of the palletizing rotation drive device 370 connected to the gate bracket 320, the gate can rotate 360° under the drive of the palletizing rotation drive device 370. This allows for the stacking of material bags with different patterns, such as five-patterned or six-patterned stacks, thus increasing the applicability of the palletizing device 300.

[0076] In this embodiment, the two gate drive assemblies 350 are symmetrically arranged about the gate slider 340. The two gate plates 360 are symmetrically arranged about the gate slider 340.

[0077] In this embodiment, the gate active crank 352 includes a gate rotating rod and a gate bushing. The gate rotating rod is fixedly connected to the gate bushing, and the gate rotating rod is rotatably connected to the gate connecting rod 351. The gate bushing is rotatably connected to the gate active rotating shaft 353.

[0078] The gate drive assembly 350 also includes a gate driven crank 354 and a gate driven shaft 355. The gate driven shaft 355 is mounted on the gate bracket 320, and the gate driven crank 354 is rotatably mounted on the gate driven shaft 355. The axis of the gate driven shaft 355 is coaxial with the axis of the gate driving shaft 353. The gate driven crank 354 is connected to the gate plate 360. In other words, the crank that drives the gate plate 360 ​​to rotate is divided into two sections, one driving section and one driven section. Compared with a crank structure with only one section, this avoids the problem of crank bending caused by excessively long cranks and difficulty in ensuring coaxiality, reduces manufacturing difficulty, and saves costs.

[0079] The gate support 320 includes a gate base plate 321, a gate cover plate 322, two first gate side plates 323, two second gate side plates 324, two gate edge plates 325, and two gate support plates 326. The gate base plate 321 is connected to the two first gate side plates 323 respectively, and the two first gate side plates 323 are parallel. The first gate side plates 323 are perpendicular to the gate base plate 321. The first gate side plates 323 are connected to the gate support plates 326. The gate support plate 326 is parallel to the first gate side plate 323. The gate side plate 325 is disposed on the gate support plate 326 and parallel to the gate bottom plate 321. The gate side plate 325 is located outside the two gate support plates 326. The two second gate side plates 324 are disposed in parallel. The second gate side plates 324 are disposed perpendicular to the gate bottom plate 321 and the first gate side plate 323. The gate cover plate 322 is disposed on the two second gate side plates 324.

[0080] Preferably, the gate support 320 further includes a gate guide post 327, which is mounted on the gate support 320. The gate slider 340 is slidably connected to the gate guide post 327. This facilitates the synchronous rotation of the gate drive crank 352 and improves the reliability of the gate transmission assembly 350.

[0081] The gate drive device 330 includes a gate drive motor 331 and a gate lead screw 332. The gate drive motor 331 is mounted on the gate bracket 320 and its output end is connected to the gate lead screw 332. The gate lead screw 332 is threadedly connected to the gate slider 340. Thus, the gate drive motor 331 drives the gate lead screw 332 to rotate, thereby driving the gate slider 340 to rise and fall. The gate slider 340 then drives the gate connecting rod 351 to move, which in turn drives the gate drive crank 352 to rotate, which in turn drives the gate plate 360 ​​to rotate. In other embodiments, the gate drive device 330 may be a cylinder, or it may include a motor, a reducer, and a rack and pinion mechanism. The output end of the motor is connected to the input end of the reducer, and the output end of the reducer drives the gear to rotate. The gear drives the meshing rack to rise and fall, and the rack drives the gate slider 340 to rise and fall.

[0082] Furthermore, the palletizing device 300 also includes a palletizing frame 380 and a palletizing lifting drive device. The palletizing bracket 310 is slidably mounted on the palletizing frame 380, and the palletizing lifting drive device is mounted on the palletizing frame 380. The output end of the palletizing lifting drive device is connected to the palletizing bracket 310. This allows the gate 360 ​​of the palletizing device 300 to be raised and lowered, thus adjusting the height of the material bags and preventing them from falling from a high place and breaking, further improving the palletizing effect.

[0083] Specifically, the palletizing lifting drive device includes a palletizing lifting motor 381, a palletizing lifting reducer, a palletizing lifting gear 383, and a palletizing lifting rack 384. The output end of the palletizing lifting motor 381 is connected to the input end of the palletizing lifting reducer, and the output end of the palletizing lifting reducer is connected to the palletizing lifting gear 383. The palletizing lifting gear 383 meshes with the palletizing lifting rack 384. The palletizing lifting rack 384 is fixedly connected to the palletizing bracket 310. A palletizing guide post is fixed on the palletizing bracket 310, and a palletizing guide sleeve is provided on the palletizing frame 380. The palletizing guide post and the palletizing guide sleeve are in sliding engagement.

[0084] Furthermore, the palletizing device 300 also includes a palletizing guide rail 391, a palletizing translation roller 392, a palletizing translation rack 393, a palletizing translation gear, and a palletizing translation drive motor 395. The palletizing frame 380 is equipped with the palletizing translation roller 392, which is slidably connected to the palletizing guide rail 391. The palletizing translation drive motor 395 is mounted on the palletizing frame 380, and its output end is connected to the palletizing translation gear. The palletizing translation gear meshes with the palletizing translation rack 393, which is mounted on the palletizing guide rail 391. Thus, by driving the palletizing translation gear to rotate through the palletizing translation drive motor 395, the palletizing translation gear can be driven to translate relative to the palletizing translation rack 393. Since the palletizing translation rack 393 is fixed on the palletizing guide rail 391, the palletizing translation rack 393 does not move, and the palletizing translation gear rolls on the palletizing translation rack 393, thereby driving the palletizing frame 380 to translate relative to the palletizing guide rail 391.

[0085] Furthermore, the palletizing lifting drive device drives the palletizing bracket 310 to rise and fall in the vertical direction, and the palletizing rotation drive device 370 drives the gate bracket 320 to rotate in the horizontal plane, thereby driving the gate plate 360 ​​to rotate in the horizontal plane.

[0086] Example 4

[0087] This embodiment provides a method for assembling a gripping device 110, including:

[0088] Two first structural side surfaces 112-a parallel to the XOZ plane and two second structural side surfaces parallel to the XOZ plane are machined on the motherboard 112, and the second structural side surfaces and the corresponding first structural side surfaces 112-a are located on the same plane.

[0089] The motherboard 112 has a first plane parallel to the XOY plane, and the gripping support plate 113-a parallel to the YOZ plane is welded to the first plane of the motherboard 112;

[0090] The gripping active shaft 114-d and the gripping active crank 114-c are mounted on the first structural side 112-a, and the gripping driven shaft 114-g and the gripping driven crank 114-f are mounted on the second structural side.

[0091] The gripper 115 is installed on the gripping drive crank and the gripping driven crank 114-f;

[0092] The gripping guide post 113-i is installed on the gripping base plate 113-b, and the gripping base plate 113-b is installed on the gripping support plate 113-a, with the gripping base plate 113-b parallel to the XOY plane and detachably fixedly connected to the gripping support plate 113-a.

[0093] The gripping slider 116 is mounted on the gripping guide post 113-i;

[0094] The gripping link 114-b is rotatably connected to the gripping drive crank 114-c and the gripping slider 116 respectively;

[0095] The first gripping side plate 113-d and the second gripping side plate are installed on the gripping base plate 113-b, and the first gripping side plate 113-d is parallel to the gripping support plate 113-a, and the two second gripping side plates are parallel to the XOZ plane.

[0096] The gripping drive assembly 111 is mounted on the gripping cover plate 113-e, and the gripping cover plate 113-e is mounted on the gripping first side plate 113-d and the gripping second side plate.

[0097] The motherboard 112 has a second plane parallel to the XOY plane. The assembly method further includes mounting the dustproof plate 113-f on the motherboard 112, and making the dustproof plate 113-f parallel to the YOZ plane and mounted on the second plane of the motherboard 112.

[0098] In the above embodiments, the material package may be bagged cement or bagged grain, etc.

[0099] The above description is only a description of the preferred embodiment of the present utility model and is not intended to limit the scope of the present utility model in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A gripping device comprising two gripping plates, characterized in that, It also includes a gripping drive assembly, a motherboard, a gripping frame, a gripping slider, and two gripping transmission assemblies. The motherboard is parallel to the XOY plane and connected to the gripping frame. The gripping transmission assembly includes a gripping linkage, a gripping drive crank, and a gripping drive shaft. The gripping slider is slidably mounted on the gripping frame. The gripping linkage is rotatably connected to the gripping slider and the gripping drive crank, respectively. The gripping drive crank is rotatably connected to the gripping drive shaft. The gripping drive shaft is connected to the motherboard, and the axis of the gripping drive shaft is parallel to the X-axis. The gripping drive crank is connected to the gripping plate. The gripping drive assembly is mounted on the gripping frame and drives the gripping slider to move up and down along the Z-axis.

2. The gripping device as described in claim 1, characterized in that, The motherboard has two first structural sides parallel to the XOZ plane, and the gripping active rotating shaft has a first mounting surface. A first mounting surface and a first structural side form a group, and the first structural side in each group is aligned with and in contact with the first mounting surface.

3. The gripping device as described in claim 2, characterized in that, The gripping transmission assembly further includes a gripping driven crank and a gripping driven shaft. The gripping driven shaft is mounted on the main board, and the gripping driven crank is rotatably mounted on the gripping driven shaft. The axis of the gripping driven shaft is coaxial with the axis of the gripping driving shaft, and the gripping driven crank is connected to the gripping plate.

4. The gripping device as described in claim 3, characterized in that, The motherboard has two second structural sides parallel to the XOZ plane, and the gripping driven shaft has a second mounting surface. A second mounting surface and a second structural side form a group. Each group of second structural sides is aligned with and in contact with the second mounting surface, and the second structural side and the corresponding first structural side are located on the same plane.

5. The gripping device as described in claim 4, characterized in that, The first structure has a first groove along the Y direction on its side for mounting the gripping active shaft and the gripping active crank, and the second structure has a second groove along the Y direction on its side for mounting the gripping driven shaft and the gripping driven crank.

6. The gripping device as described in claim 5, characterized in that, Both ends of the gripping active rotating shaft have a first mounting surface, which is aligned with and in contact with the side of the first structure. Both ends of the gripping driven rotating shaft have a second mounting surface, which is aligned with and in contact with the side of the second structure.

7. A grasping system, characterized in that, The device includes a connecting frame, a bag conveying device, a gripping device mounted on the connecting frame as described in any one of claims 1-6, and a gripping rotation driver for driving the connecting frame to rotate in order to drive the gripping device to rotate, wherein the bag conveying device is located on the rotation path of the gripping device.

8. The grasping system as described in claim 7, characterized in that, The bag conveying device conveys the bag along a first direction. The bag conveying device is provided with a limiting member located on the conveying path of the bag. When the gripping device rotates above the bag conveying device, the axis of the gripping active crank is set along the first direction.

9. The grasping system as described in claim 7, characterized in that, The number of gripping devices is two, and the two gripping devices are perpendicular to each other.

10. A loading machine, characterized in that, The device includes a movable frame, a palletizing device mounted on the movable frame for vertically lowering packages, a gripping system mounted on the movable frame as described in any one of claims 7-8, and a package transfer device for conveying packages to the palletizing device along a first direction, the package transfer device being located on the rotation path of the gripping device, and the palletizing device being connected to the output end of the package transfer device.

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