CN116788872B - Full-automatic loading and unloading machine suitable for bagged materials for train freight - Google Patents
Full-automatic loading and unloading machine suitable for bagged materials for train freight Download PDFInfo
- Publication number
- CN116788872B CN116788872B CN202310771977.2A CN202310771977A CN116788872B CN 116788872 B CN116788872 B CN 116788872B CN 202310771977 A CN202310771977 A CN 202310771977A CN 116788872 B CN116788872 B CN 116788872B
- Authority
- CN
- China
- Prior art keywords
- bag
- conveyor belt
- clamping plate
- truss
- telescopic conveyor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000000463 material Substances 0.000 title claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims abstract description 42
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 16
- 230000000007 visual effect Effects 0.000 claims abstract description 10
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 5
- 210000000056 organ Anatomy 0.000 claims description 3
- 238000004806 packaging method and process Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 8
- 230000007704 transition Effects 0.000 description 6
- 239000012636 effector Substances 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000036544 posture Effects 0.000 description 2
- 230000002441 reversible effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000037303 wrinkles Effects 0.000 description 1
Landscapes
- Specific Conveyance Elements (AREA)
Abstract
The utility model provides a full-automatic loader suitable for material in bags is freight by train, the below of chassis is provided with the walking driving power system of qxcomm technology, walking driving power system of qxcomm technology is controlled by self-guidance system and control system, vertical slip table sets up in the chassis upper end, the seat that transversely slides sets up in vertical slip table upper end, the seat that transversely slides is provided with rotatory pedestal, the one end of first bag package flexible conveyer belt and the one end of second bag package flexible conveyer belt are arranged in respectively on the rotatory pedestal, the bend pulley is arranged in between the two tip that are close to of first bag package flexible conveyer belt, the flexible conveyer belt of second bag package, bag package clamp gets the mechanism and is arranged in the one end that the rotatory pedestal was kept away from to first bag package flexible conveyer belt, bag package intelligent visual identification system sets up in bag package clamp and gets mechanism one side. The loading and unloading machine has the characteristics of high automation and intelligent degree, high bag packaging and unloading efficiency, strong adaptability and stable clamping performance.
Description
Technical Field
The utility model relates to automatic loading equipment, in particular to a full-automatic loading and unloading machine suitable for train freight bagged materials.
Background
At present, the loading and unloading mode of bag cargos transported by adopting a train box wagon (in railway transportation, a ceiling capable of preventing sun and rain is arranged at the upper part of a carriage, and doors are arranged at two sides of the middle part of the carriage) is mainly manual loading and unloading, namely, the bag cargos are loaded and unloaded to a designated position by a large amount of manpower, so that the labor intensity of workers is high, the working environment is bad, the labor cost is high, the loading and unloading efficiency is low, and in addition, the semi-manual loading and unloading are carried out by adopting heavy mechanical equipment, so that the adopted equipment is very inconvenient to move and has low automation and intelligent degree.
In order to realize the high-efficient loading and unloading of train boxcar, as provided in patent application CN108502555A a dedicated truck formula automatic handling machine of train, including truck head and loader, the loader is connected with the truck head, the loader is pulled by the truck head, the loader includes the base station, the platform that slides, two flexible conveying platform, two swivel mount and middle transition band conveyer, the base station sets up on the automobile body of truck head, the platform that slides sets up on the base station, two flexible conveying platform, two swivel mount and middle transition band conveyer set up on the platform that slides, two swivel mount set up respectively in middle transition band conveyer both ends, all be equipped with the revolving stage on two swivel mount, be equipped with the baffle on the revolving stage, the baffle is used for keeping off the goods on the revolving stage in next link, two flexible conveying platform set up respectively on two swivel mount, flexible conveying platform passes through the swivel mount and rotates on the platform that slides and adjusts certain angle. The utility model has light structure, convenient and quick movement, and can carry goods to or from the loading and unloading machine without load movement, thereby greatly saving manpower and improving the loading and unloading efficiency. Patent application CN205312568U provides a carousel transition type bidirectional loading and unloading machine, relates to commodity circulation transportation goods handling mechanical equipment field. Consists of a bearing trolley, two belt conveyors, an intermediate conveyor, a stop device and an operation control system thereof. The utility model has simple structure, reliable operation, economy, practicability, energy conservation and environmental protection; the walking machine is folded, has small outline dimension and is convenient and quick to move and transfer; when the device is in operation, the device is unfolded, the operation range is large, the direction of the material flow can be guided and changed, and the forward and reverse bidirectional loading and unloading are realized; the working azimuth and the working attitude of the belt conveyor can be adjusted to adapt to the change of cargo loading and unloading points, once loading and unloading, and the cargo is directly reached; the device can directly enter the carriage, the container and the container for operation, reduces manual auxiliary transportation, lightens the labor intensity of workers, shortens the operation time, improves the loading and unloading work efficiency and reduces the loading and unloading transportation cost; the drop of the articles in the loading, unloading and conveying process is small, the transition is stable and has no impact, the dust emission can be reduced, the working environment is improved, the articles are prevented from being dropped and damaged in transition conveying, and the loading and unloading safety of the articles is ensured. The two patents realize convenient movement of the conveyer belt through the rotatable fit mode of the two transmission structures, and adapt to cargo loading and unloading point change. However, the loading and unloading machines provided in the above two patents are substantially semi-automatic loading and unloading equipment, and the gripping of the materials and the movement of the loading and unloading machines are realized manually, which still consumes a great deal of manpower for loading and unloading.
In order to facilitate the handling of materials during stacking and unloading, in the prior art, the materials are clamped by using an automatically controlled manipulator, and the existing manipulator is usually clamped by using a sucker, a gripper or a forklift; as in patent CN 215158999U, there is provided a gripper mechanism for transporting materials by a loader, which uses grippers with downward openings to grip the materials, and since the grippers are arranged in a vertical direction, a certain space needs to be reserved at the upper part, there is no way to effectively grip the materials at the top of the closed space of a box wagon or a container; as in patent CN109775390 a, there is provided an end effector of a bagged material transfer device, which is similar to a forklift for holding bagged materials, but the clamping jaw 27 at the lower end of the end effector needs to directly extend below the bagged materials to finish mechanical clamping of the materials, and due to the flexibility of the bag, when the clamping jaw 27 at the lower end encounters the conditions of uneven surface and wrinkles of the bag when the bag is completely under, the bag is easily scratched to cause leakage of the materials, and in addition, for the materials of a big bag, the bearing capacity of the clamping jaw is insufficient, and the situation of falling easily occurs; as in patent CN 214454961U, an end effector of a bagged material transferring apparatus is provided, which uses a sucker to clamp a material, and has a problem of not firmly sucking the material with uneven surface, while the fixing frame 98 located below can play a role of supporting the material, it also needs to directly extend into the lower part of the bagged material to complete the mechanical clamping of the material, so that the problem of damaging the lower surface of the bag easily occurs. In addition, the existing manipulator cannot be adjusted in size or has limited adjustment range, so that the problem of insufficient applicability to materials with different sizes can be caused.
Disclosure of Invention
The utility model develops a loading and unloading vehicle system for solving the problem that the loading and unloading of bags and goods of a railway box wagon are not firm by manual work and mechanical hand grasping materials, and has the characteristics of high automation and intelligent degree, high bag packaging and unloading efficiency, strong adaptability and stable clamping performance.
The utility model adopts the following technical scheme for solving the technical problems:
the full-automatic loader is characterized by comprising an omnidirectional walking power system, a chassis, a bag clamping and taking mechanism, an automatic guiding system and a control system, wherein the omnidirectional walking power system is arranged below the chassis and controlled and driven by the automatic guiding system and the control system, a longitudinal sliding table is arranged at the upper end of the chassis, a transverse sliding seat is arranged at the upper end of the longitudinal sliding table, a rotating pedestal is arranged on the transverse sliding seat, one end of a first bag telescopic conveyor belt and one end of a second bag telescopic conveyor belt are respectively arranged on the rotating pedestal, a steering drum is arranged between two close ends of the first bag telescopic conveyor belt and the second bag telescopic conveyor belt, the bag clamping and taking mechanism is arranged at one end of the first bag telescopic conveyor belt far away from the rotating pedestal, and a bag intelligent visual recognition system is arranged at one side of the bag clamping and taking mechanism;
the bag clamping mechanism comprises two truss robots, a grabbing device and tray members, wherein the two truss robots are respectively arranged on two sides of the first bag telescopic conveyor belt, and the tray members and the grabbing device are sequentially arranged at the front end of the truss robots;
the truss robot comprises a first upright post, the upper ends of the first upright posts of the two sets of truss robots are fixedly connected through a cross rod, truss connecting pieces are arranged on the inner sides of the first upright posts, the truss robot is fixed on two sides of a first bag telescopic conveyor belt through the truss connecting pieces, a first sliding rail is arranged on the outer side of the first upright post, the truss robot comprises a cross beam which is connected with the first sliding rail in a sliding mode up and down, a telescopic rod is sleeved in the cross beam, one end of the telescopic rod, which is far away from the cross beam, is provided with a second upright post through a first hinge mechanism, an air cylinder is fixed on the upper end face of the cross beam, the output end of the air cylinder is connected with the rear end of the first hinge mechanism, so that the air cylinder can drive telescopic movement of the first hinge mechanism, a second sliding rail is arranged at the front end of the second upright post, and the front end of the second hinge mechanism is connected with a tray component;
the grabbing device is fixed on the tray member through the plug-in assembly and is divided into a lower clamping plate and an upper clamping plate, the rear ends of the lower clamping plate and the upper clamping plate are respectively connected with the body of the grabbing device through a first hinge structure, the lower clamping plate and the upper clamping plate are respectively provided with a sucker and a plurality of rubber heads, and the heights of the rubber heads are adjustable;
the tray component comprises a frame, a supporting plate and a supporting plate driving structure, the grabbing device is fixedly connected to the front end of the frame, the supporting plate is slidably connected to the bottom of the frame, the supporting plate driving structure is arranged in the frame, and the driving structure is used for driving the supporting plate to move back and forth along the direction towards the tail end tool.
Further, the height adjustment formula of the rubber head is h=l-k (W/D2), wherein the bag weight is W, the suction cup diameter is D, the maximum length of the suction cup is L, the height of the rubber head is H, and k is a constant related to the suction cup material.
Further, the bag intelligent visual recognition system is arranged on one side of the tray member.
Further, a cab is provided on one side of the chassis.
Further, the automatic loading and unloading machine further comprises a remote control handle for remotely controlling the action of the full-automatic loading and unloading machine.
Further, the sucker is an organ type vacuum sucker.
The beneficial effects of the utility model are as follows:
1. the full-automatic loader for the bagged materials for the freight transportation of the train has the characteristics of omnidirectional movement function, good maneuverability, autonomous guiding of a traveling route, strong environmental adaptability, high automation and intelligent degree, high loading efficiency and the like. The tray structure and the grabbing device are matched by utilizing the truss robot to stably move the bagged materials; the intelligent system for visual identification of the bags is provided, so that the positions, the postures and the like of the bags can be accurately identified, and the bag clamping and taking mechanism can be assisted to realize full-automatic and efficient loading and unloading vehicle operation.
2. The bag clamping and taking mechanism comprises a truss robot capable of realizing multi-axis linkage, the upper direction, the lower direction and the front direction are both provided with two-stage telescopic functions, the design is exquisite, the weight is light, interference with a conveying belt in the moving process is avoided, the bag clamping and taking mechanism is more flexible due to the two hinge mechanisms, the bag clamping and taking mechanism is enabled to be parallel to the conveying belt, and the grabbing of bagged materials is facilitated. Two sets of truss mechanisms and tray structures and the like can realize multiaxial linkage without interference, the operation efficiency is remarkably improved, and the gap width and the height can be adjusted through the cooperation of the two sets of truss mechanisms, so that the bag clamping mechanism can be adapted to materials with different sizes and different shapes.
3. The rubber head is arranged on the clamping plate while the sucking disc is arranged, so that the friction force is increased, and the problem of unstable suction of the sucking disc is avoided; in order to ensure that the rubber head and the sucker can be well matched, the height of the rubber head is set to be adjustable, so that gaps are formed due to deviation of the height direction between the rubber head and the sucker, and the grabbing device is ensured to have enough friction force when the bagged materials are sucked, so that the bag can be prevented from sliding off or cannot be firmly fixed on the clamping plate;
4. in order to improve the supporting force of the grabbing device on materials, a tray member is additionally arranged at the rear part of the grabbing device, the tray member comprises a telescopic supporting plate, the supporting plate can be used for supporting the bagged materials with high weight, and the stability of the transported materials is improved; through the cooperation of the expansion and contraction of the supporting plate and the clamping plate, the damage to the bag when the supporting plate stretches into the lower part of the material can be avoided.
Drawings
Fig. 1 is a schematic view of the overall structure of the present utility model in the operating state.
Fig. 2 is a schematic view of the present utility model in a running state.
Fig. 3 is a schematic structural view of the enlarged view conveying system at a in fig. 1.
Fig. 4 is a schematic structural view of the truss robot.
Fig. 5 is a schematic view of the structure of the grasping apparatus.
Fig. 6 is a schematic structural view of the tray member.
Figure 7 is a schematic view of the bag of the loader at the loading gate.
Fig. 8 is a schematic view of the bag of the loader inside the loader wagon.
Fig. 9 is a schematic view of the bag of the loader on the other side of the loader wagon.
Fig. 10 is a flow chart of the loader operation.
Detailed Description
The present utility model will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present utility model more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the utility model. In addition, the technical features of the embodiments of the present utility model described below may be combined with each other as long as they do not collide with each other.
Fig. 1 shows a full-automatic loader suitable for material in bags for freight transportation of trains, the full-automatic loader comprises an omnidirectional walking power system 1, a chassis 2, a longitudinal sliding table 3, a transverse sliding seat 4, a rotary pedestal 5, a first bag telescopic conveyor belt 6, a second bag telescopic conveyor belt 7, a direction changing drum 8, a bag clamping and taking mechanism 9, a bag intelligent visual identification system 13, a self-guiding system 12 and a control system 15, wherein the omnidirectional walking power system 1 is arranged below the chassis 2 and is controlled and driven by the self-guiding system 12 and the control system 15, the longitudinal sliding table 3 is arranged at the upper end of the chassis 2, the transverse sliding seat 4 is arranged on the longitudinal sliding table 3, the transverse sliding seat 4 is provided with a rotary pedestal 5, one end of the first bag telescopic conveyor belt 6 and one end of the second bag telescopic conveyor belt 7 are respectively arranged on the rotary pedestal, the longitudinal sliding table 3 and the transverse sliding seat 4 which are sequentially arranged on a bottom plate are used for controlling the longitudinal and transverse movement of the rotary pedestal 5, the rotary pedestal 5 is used for controlling the first bag telescopic conveyor belt 6 and the second bag telescopic conveyor belt 7 to rotate, the omnidirectional sliding seat 4 is arranged between the first bag telescopic conveyor belt 6 and the second bag telescopic conveyor belt 7, the first bag telescopic conveyor belt 8 and the bag telescopic conveyor belt 7 is arranged at the end of the first bag telescopic conveyor belt 9, the telescopic conveyor belt 7 is far from the rotary pedestal 9, and the telescopic conveyor belt 9 is arranged at one side, and far from the telescopic conveyor belt 9 is arranged.
One side of the chassis 2 is provided with a cab 10 and also comprises a remote control handle 11 for remotely controlling the action of the loader.
The specific structure of the bag clamping mechanism 9 is shown in fig. 3, the bag clamping mechanism 9 comprises a truss robot 94, a grabbing device 91 and tray members 92, the truss robot 94 is arranged in two sets and is respectively arranged on two sides of the first bag telescopic conveyor belt 6, the tray members 92 and the grabbing device 91 are sequentially arranged at the front end of the truss robot 94, and the bag intelligent visual identification system is arranged on one side of the tray members 92.
In fig. 4, the specific structure of the truss robot 94 is shown, the truss robot 94 includes a first column 944, the upper ends of the first columns 944 of the two sets of truss robots are fixedly connected through a cross rod, truss connecting pieces 948 are respectively disposed on the inner sides of the first columns 944, the truss robots are fixed on two sides of the first bag telescopic conveyor belt 6 through the truss connecting pieces 948, a first sliding rail is respectively disposed on the outer sides of the first columns 944, the truss robot 94 includes a cross beam 941 which is slidably connected with the first sliding rail up and down, telescopic rods 943 are sleeved in the cross beam 941, one ends of the telescopic rods 943, far from the cross beam 941, are provided with second columns 946 through hinge mechanisms 945, air cylinders 942 are fixed on the upper end faces of the cross beam 941, the output ends of the air cylinders 942 are connected with the rear ends of the hinge mechanisms 945, so that the air cylinders can drive telescopic movement of the hinge mechanisms 945, second sliding rails are disposed on the front ends of the second columns 946, hinge mechanisms 947 are slidably connected on the second sliding rails, and the front ends of the hinge mechanisms 947 are connected with tray members 92.
The truss robot can realize multi-axis linkage, has two-stage telescopic functions in the up-down direction and the front-back direction, is exquisite in design and light in weight, avoids interference with a conveying belt in the motion process, has two hinging mechanisms, can enable a front-end working device to be more flexible, enables the front-end working device to be parallel to the conveying belt, and is favorable for grabbing bags. The two truss robots can calculate the optimal loading and unloading modes according to different box car or cargo box sizes. Two sets of truss mechanisms and front end working devices and the like are designed, multi-axis linkage can be achieved, interference is avoided, the operation efficiency is remarkably improved, and the gap width and the height can be adjusted through cooperation of the two sets of truss mechanisms, so that the bag clamping mechanism can adapt to materials with different sizes and different shapes.
Fig. 5 and 6 show specific structures of the gripping device 91 and the tray member 92. The grabbing device 91 is fixed on the tray member 92 through a plug-in assembly, the grabbing device 91 is divided into a lower clamping plate 913 and an upper clamping plate 914, the rear ends of the lower clamping plate 913 and the upper clamping plate 914 are respectively connected with the body of the grabbing device through a first hinge structure 911, the opening angle of the upper clamping plate and the lower clamping plate can be adjusted through hinged control, the lower clamping plate 913 and the upper clamping plate 914 are respectively provided with a sucker 915 and a plurality of rubber heads 912, the suckers adopt organ type vacuum suckers, the rubber heads are arranged on the upper clamping plate and the lower clamping plate, and the friction force is increased; the opening is arranged to be larger in angle before the bag is grabbed, the lower clamping plate is contacted with the material first, forward thrust is applied to the lower clamping plate when the lower clamping plate is contacted, and then the first hinge structure is controlled to move so that the opening of the upper clamping plate and the opening of the lower clamping plate are reduced, and the upper clamping plate and the lower clamping plate clamp the material; the upper clamping plate and the lower clamping plate are made into a profiling structure according to the bag, so that the material grabbing is facilitated.
In the use process of material grabbing, when the sucking disc adsorbs the bag, under various use scenes, as the weight of the adsorbed bag is different, the height of the sucking disc can also generate different heights according to the weight of the bag, if the height of the rubber head is too high, the sucking disc can possibly not be in full contact with the surface of the bag, so that the grabbing effect is affected; if the height of the rubber head is set too low, gaps can be formed between the rubber head and the sucker, and the stability and reliability of material grabbing are reduced. In order to ensure that the rubber head and the sucker can be well matched, the height of the rubber head is set to be adjustable, so that the gap is formed due to deviation in the height direction between the rubber head and the sucker, and the end tool is ensured to have enough friction force when the bag is sucked, so that the bag can be prevented from sliding off or cannot be firmly fixed on the clamping plate. The height adjusting range of the rubber head is within the telescopic range of the sucker, so that the friction force of the rubber head can be fully utilized when the bag is clamped, and the gripping capacity of the gripper is effectively enhanced.
The height of the rubber head is adjusted in the following way, but not limited to the following way, an air inflation cavity is arranged in the rubber head, and the height of the rubber head is adjusted and controlled by controlling the medium of the air inflation cavity. In the use process, the height adjustment formula of the rubber head is H=L-k (W/D2), wherein the weight of the bag is W, the diameter of the sucker is D, the maximum length of the sucker is L, the height of the rubber head is H, k is a constant related to the sucker material, and the higher the hardness of the sucker material is, the smaller the k value is. The weight W of the bags is obtained, the weight setting of each bag is known for bags with uniform specifications loaded in a carriage, and the value of W can be set in a control system before the operation starts; and under the condition that the weights of the bags are uneven, a weight sensor can be arranged on the lower clamping plate, and the weight of the bags is weighed by clamping materials on the lower clamping plate.
For the heavy-weight bag, if the bag is transferred to the conveying line only by the upper clamping plate and the lower clamping plate, the clamping plates are limited in supporting force under the matched connection of the hinging devices, and if the supporting force is improved by unilaterally increasing the strength of the hinging devices and the upper clamping plates and the lower clamping plates, the volume and the weight of the tail end device can be increased, the cost can be increased, and the risk of damaging the bag when the clamping plates are clamped can be increased. In order to improve the supporting force of the gripping device 91 to the bag, a tray member 92 is added to the rear portion of the gripping device 91, and the tray member 92 includes: a frame 921, a pallet 923, a pallet drive structure 924; the gripping device 91 is fixedly connected to the front end of the frame 921, a pallet 923 is slidably connected to the bottom of the frame 921, a pallet driving structure 924 is provided inside the frame 921, and the driving structure 924 is used for driving the pallet 923 to move back and forth along the direction toward the gripping device. The grabbing problem of the bag (more than 50 kg) with large weight can be solved through the matching of the supporting plate and the upper clamping plate and the lower clamping plate, and the unloading process is as follows: firstly, grabbing the bag by using an upper clamping plate and a lower clamping plate, slightly lifting the bag, and then driving a supporting plate 922 to extend forwards by using a supporting plate driving structure 924, so that the supporting plate 922 is positioned below the bag, the supporting plate supports the bag, the problem of insufficient supporting force of a manipulator in the prior art is solved by using the supporting of the supporting plate, and the bag can be stably transferred to a conveying belt under the combined action of the supporting plate 923, the upper clamping plate and the lower clamping plate; after transferring the bags to the conveyor belt, the pallet driving structure 924 drives the pallet 922 to retract backward, and the upper and lower jaws are opened, completing the transfer of the bags to the conveyor belt.
When the intelligent bag and bag visual recognition system is used for unloading, the bag and bag clamping mechanism is matched with the bag and bag clamping mechanism, the bags and bags can be grabbed by the grabbing device according to the setting sequence according to the placement condition of the actual bags and are placed on the supporting plate, then the bags and bags are placed on the conveying belt through the truss structure, and the bag and bag clamping mechanism can reach all positions of a carriage through the truss structure; the bag is conveyed outside the carriage by a conveying belt.
Fig. 10 shows an operation method of a fully automatic loader applicable to the freight bags of trains, specifically:
s1, the railway carriage is parked in place, the full-automatic loading and unloading machine moves to the position of a vehicle door in an omni-directional mode through a self-guiding system 12, the posture is adjusted, and preparation is made for bag package unloading, as shown in FIG. 2;
s2, as shown in FIG. 7, after the vehicle door is opened, the first bag telescopic conveyor belt and the second bag telescopic conveyor belt rotate to proper positions by virtue of the rotating pedestal, the bag intelligent visual recognition system recognizes the bag positions, the first bag telescopic conveyor belt and the second bag telescopic conveyor belt stretch and spread the belt to stretch and angle according to feedback of the control system, and the grabbing device 91 and the tray member 92 are moved to the bag positions of the gate by utilizing cooperation of the truss robot;
s3, controlling the upper clamping plate and the lower clamping plate to open a larger opening, enabling the lower clamping plate to contact materials at first, applying forward thrust to the lower clamping plate while contacting, and then controlling the first hinge structure to move so that the opening of the upper clamping plate and the opening of the lower clamping plate are reduced, and enabling the upper clamping plate and the lower clamping plate to clamp the bag; in the process of clamping the bag, firstly, sucking the suction disc into negative pressure to enable the suction disc to adsorb the bag, and adjusting the rubber head into corresponding height;
s4, grabbing the bag by using an upper clamping plate and a lower clamping plate, slightly lifting the bag, and driving the supporting plate 922 to extend forwards by using the supporting plate driving structure 924, so that the supporting plate 922 is positioned below the bag, and the supporting plate can support the bag and ensure that the bag is stably transferred to the first bag telescopic conveying belt under the combined action of the supporting plate 923, the upper clamping plate and the lower clamping plate; after transferring the bags to the first bag telescopic conveyor belt, the supporting plate driving structure 924 drives the supporting plate 922 to retract backwards, and the upper clamping plate and the lower clamping plate are opened to finish transferring the bags to the first bag telescopic conveyor belt;
s5, conveying the bags to a designated position through a first bag telescopic conveying belt by a direction-changing drum and a second first bag telescopic conveying belt to finish bag package unloading at a carriage gate;
s6, as shown in FIG. 8, according to the unloading condition of the bags, the grabbing device, the tray member, the truss robot and the first bag telescopic conveyor belt move together into the carriage to unload the bags in the carriage;
s7, as shown in FIG. 9, after the bag loading and unloading of one side of the carriage is completed, the loader is in omni-directional self-guiding walking, is matched with the first bag telescopic conveyor belt to rotate to the other side, transversely slides to the other side of the carriage, and loads and unloads the bag on the other side of the carriage until all materials in the carriage are unloaded;
s8, retracting the truss robot and the first bag telescopic conveyor belt, moving out of the carriage, then moving to a gate of the next carriage, starting to discharge materials of the second carriage, and sequentially completing the unloading of other carriages;
and S9, after all carriages are unloaded, retracting the grabbing device, the tray member, the truss robot, the first bag telescopic conveyor belt and the second bag telescopic conveyor belt, rotating the first bag telescopic conveyor belt and the second bag telescopic conveyor belt to the same direction as the chassis extension, and driving the loader off the site.
In particular, the bag loader and unloader are reversible transport directions, and the loading process will not be repeated.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the utility model and is not intended to limit the utility model, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the utility model are intended to be included within the scope of the utility model.
Claims (5)
1. The full-automatic loader is characterized by comprising an omnidirectional walking power system, a chassis, a bag clamping and taking mechanism, an automatic guiding system and a control system, wherein the omnidirectional walking power system is arranged below the chassis and controlled and driven by the automatic guiding system and the control system, a longitudinal sliding table is arranged at the upper end of the chassis, a transverse sliding seat is arranged at the upper end of the longitudinal sliding table, a rotating pedestal is arranged on the transverse sliding seat, one end of a first bag telescopic conveyor belt and one end of a second bag telescopic conveyor belt are respectively arranged on the rotating pedestal, a steering drum is arranged between two close ends of the first bag telescopic conveyor belt and the second bag telescopic conveyor belt, the bag clamping and taking mechanism is arranged at one end of the first bag telescopic conveyor belt far away from the rotating pedestal, and a bag intelligent visual recognition system is arranged at one side of the bag clamping and taking mechanism;
the bag clamping mechanism comprises two truss robots, a grabbing device and tray members, wherein the two truss robots are respectively arranged on two sides of the first bag telescopic conveyor belt, and the tray members and the grabbing device are sequentially arranged at the front end of the truss robots;
the truss robot comprises a first upright post, the upper ends of the first upright posts of the two sets of truss robots are fixedly connected through a cross rod, truss connecting pieces are arranged on the inner sides of the first upright posts, the truss robot is fixed on two sides of a first bag telescopic conveyor belt through the truss connecting pieces, a first sliding rail is arranged on the outer side of the first upright post, the truss robot comprises a cross beam which is connected with the first sliding rail in a sliding mode up and down, a telescopic rod is sleeved in the cross beam, one end of the telescopic rod, which is far away from the cross beam, is provided with a second upright post through a first hinge mechanism, an air cylinder is fixed on the upper end face of the cross beam, the output end of the air cylinder is connected with the rear end of the first hinge mechanism, so that the air cylinder can drive telescopic movement of the first hinge mechanism, a second sliding rail is arranged at the front end of the second upright post, and the front end of the second hinge mechanism is connected with a tray component;
the grabbing device is fixed on the tray member through the plug-in assembly and is divided into a lower clamping plate and an upper clamping plate, the rear ends of the lower clamping plate and the upper clamping plate are respectively connected with the body of the grabbing device through a first hinge structure, and the lower clamping plate and the upper clamping plate are respectively provided with a sucker and a plurality of rubber heads;
the height of the rubber head is set to be adjustable, the height adjustment formula of the rubber head is H=L-k (W/D2), wherein the weight of the bag is W, the diameter of the sucker is D, the maximum length of the sucker is L, the height of the rubber head is H, and k is a constant related to the sucker material;
the tray component comprises a frame, a supporting plate and a supporting plate driving structure, the grabbing device is fixedly connected to the front end of the frame, the supporting plate is slidably connected to the bottom of the frame, the supporting plate driving structure is arranged in the frame and used for driving the supporting plate to move back and forth along the direction towards the grabbing device so as to support the bag.
2. The fully automatic handler for use with a train freight bagged material of claim 1, wherein the bag intelligent visual recognition system is disposed on one side of the tray member.
3. The fully automatic loader for bagged materials for freight train according to claim 1, wherein a cab is provided at one side of the chassis.
4. The fully automatic handler for use with a train freight bagged material of claim 1, further comprising a remote control handle for remotely controlling the action of the fully automatic handler.
5. The fully automatic handler for transporting bagged materials for trains according to claim 1, characterized in that the suction cups are organ type vacuum suction cups.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310771977.2A CN116788872B (en) | 2023-06-28 | 2023-06-28 | Full-automatic loading and unloading machine suitable for bagged materials for train freight |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310771977.2A CN116788872B (en) | 2023-06-28 | 2023-06-28 | Full-automatic loading and unloading machine suitable for bagged materials for train freight |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116788872A CN116788872A (en) | 2023-09-22 |
| CN116788872B true CN116788872B (en) | 2023-12-26 |
Family
ID=88039851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310771977.2A Active CN116788872B (en) | 2023-06-28 | 2023-06-28 | Full-automatic loading and unloading machine suitable for bagged materials for train freight |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116788872B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205312568U (en) * | 2016-01-07 | 2016-06-15 | 襄阳忠良工程机械有限责任公司 | Two -way loader of carousel transition type |
| CN105692251A (en) * | 2016-03-16 | 2016-06-22 | 广州圣益龙自动控制技术有限公司 | Automatic loading system for articles |
| CN206232160U (en) * | 2016-10-13 | 2017-06-09 | 蔡维德 | For the automatic unloading equipment unloaded |
| WO2022027980A1 (en) * | 2020-08-03 | 2022-02-10 | 北京京东乾石科技有限公司 | Loading and unloading equipment, and loading and unloading system |
| CN114763212A (en) * | 2021-02-09 | 2022-07-19 | 深圳蓝胖子机器智能有限公司 | Mobile robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DK3885292T3 (en) * | 2020-03-27 | 2023-06-06 | Tata Consultancy Services Ltd | APPARATUS AND METHOD FOR AUTOMATIC MANIPULATION OF ARTICLES ON AND OFF PALLETS |
-
2023
- 2023-06-28 CN CN202310771977.2A patent/CN116788872B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205312568U (en) * | 2016-01-07 | 2016-06-15 | 襄阳忠良工程机械有限责任公司 | Two -way loader of carousel transition type |
| CN105692251A (en) * | 2016-03-16 | 2016-06-22 | 广州圣益龙自动控制技术有限公司 | Automatic loading system for articles |
| CN206232160U (en) * | 2016-10-13 | 2017-06-09 | 蔡维德 | For the automatic unloading equipment unloaded |
| WO2022027980A1 (en) * | 2020-08-03 | 2022-02-10 | 北京京东乾石科技有限公司 | Loading and unloading equipment, and loading and unloading system |
| CN114763212A (en) * | 2021-02-09 | 2022-07-19 | 深圳蓝胖子机器智能有限公司 | Mobile robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116788872A (en) | 2023-09-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112278911B (en) | Loading and unloading equipment and loading and unloading system | |
| CN108974964B (en) | Intelligent loading and unloading device for container cargo | |
| EP1879822B1 (en) | System for unloading or loading of cargo | |
| JP2019534223A (en) | Automatic unloading robot system | |
| CN108328348B (en) | Movable robot loading and unloading stacker crane and loading and unloading method thereof | |
| CN114348688B (en) | Cargo handling system, cargo handling method and cargo handling transport vehicle | |
| CN113697491B (en) | Cold-chain container carton cargo handling equipment and method | |
| CN111908176A (en) | Movable manipulator stacking car loader and cargo loading method thereof | |
| CN111573320A (en) | Boxcar bagged material handling equipment | |
| CN116788872B (en) | Full-automatic loading and unloading machine suitable for bagged materials for train freight | |
| CN116788873B (en) | Automatic unloader suitable for box freight bags | |
| CN214610155U (en) | Automatic loading device | |
| CN214610158U (en) | Automatic loading system | |
| CN116374621A (en) | Bagged material conveying control method, conveying system and control device | |
| CN111703923B (en) | Railway open wagon unloading auxiliary equipment | |
| US12122613B2 (en) | Device and process for automated loading and unloading of parcels | |
| CN115535572A (en) | Luggage case carrying and stacking equipment and control method thereof | |
| CN212608266U (en) | Boxcar bagged material handling equipment | |
| WO2020177621A1 (en) | Commodity picking robot | |
| CN219859551U (en) | Full-automatic transfer loading line | |
| CN214610440U (en) | Loading device with position adjusting mechanism | |
| CN215854050U (en) | Portable material hacking machine that unloads | |
| CN214610157U (en) | Loading device capable of pushing goods for multiple times | |
| CN220827044U (en) | Suction mechanism of boxcar bagged cargo loader | |
| CN110745294A (en) | Automatic packaging system for flexible turnover box |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |