CN109592437B - High-efficient automatic vanning system of bulk cargo material container - Google Patents
High-efficient automatic vanning system of bulk cargo material container Download PDFInfo
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- CN109592437B CN109592437B CN201910035385.8A CN201910035385A CN109592437B CN 109592437 B CN109592437 B CN 109592437B CN 201910035385 A CN201910035385 A CN 201910035385A CN 109592437 B CN109592437 B CN 109592437B
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- 239000000463 material Substances 0.000 title claims abstract description 31
- 230000007246 mechanism Effects 0.000 claims abstract description 160
- 239000013590 bulk material Substances 0.000 claims abstract description 24
- 230000009471 action Effects 0.000 claims description 16
- 238000007599 discharging Methods 0.000 claims description 6
- 238000007790 scraping Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
- B65G65/32—Filling devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Filling Or Emptying Of Bunkers, Hoppers, And Tanks (AREA)
Abstract
The invention relates to the field of bulk material transportation, and discloses a high-efficiency automatic boxing system for bulk material containers, which comprises the following components: the conveying mechanism, the flat-mounting mechanism and the first manipulator group; the conveying mechanism is arranged on the conveying track and is used for conveying the container to the flat-loading mechanism; the first manipulator is arranged on the side edge of the conveying track in a group mode and used for opening a door on the top surface of the container; the flush mounting mechanism is arranged above the conveying track and is positioned in front of the first manipulator group; the discharge port of the flat loading mechanism is opposite to the feed port of the container; wherein, the front is consistent with the material conveying direction. According to the high-efficiency automatic boxing system for the bulk material containers, disclosed by the invention, the containers to be boxed are conveyed to the flat loading mechanism through the conveying mechanism, and the door on the top surface of the containers is opened through the first manipulator group, so that the flat loading mechanism can be used for boxing the containers, automatic continuous boxing is realized, and the loading efficiency of the containers is improved.
Description
Technical Field
The invention relates to the field of bulk material transportation, in particular to a high-efficiency automatic boxing system for bulk material containers.
Background
The adoption of the container for transporting bulk cargo (coal, grain, powder and the like) is a transportation form with important significance in the modern transportation industry, and the problem of low bulk cargo boxing efficiency is always an important bottleneck problem on a whole bulk cargo container rapid transportation chain. At present, the bulk container loading modes mainly comprise 3 modes: 1) The method comprises the steps of (1) horizontally placing a common side-opening standard container, and boxing the container in a mode of feeding the container into the container by adopting a small loader or a belt conveyor; 2) Another way of boxing the standard container with the side door is to place the empty container on the auxiliary equipment on the ground, operate the auxiliary equipment to make the container form a certain inclination angle with the ground, and convey the bulk cargo to the side door of the container at a high position for throwing and loading. 3) And (3) loading the empty containers into special top door opening containers by using special conveying equipment such as a belt conveyor or a loading building.
However, all three schemes are unfavorable for the development of the existing automatic container terminal, and the scheme 1 has the advantages of low automation degree, high labor intensity, long boxing time and low efficiency, and simultaneously has the problem that the container top space is difficult to fill, so that the container space is wasted; the auxiliary equipment for boxing in the scheme 2 has large occupied area, heavier containers, auxiliary equipment and the like are positioned at a high position during working, so that potential safety hazards are brought to the use of the equipment, and for large containers (more than 20 feet), the inclined containers are higher in loading height, and the scattered containers are sent to the high position and then thrown down, so that the large auxiliary transportation equipment is additionally added, and meanwhile, additional energy consumption is brought, and additional boxing cost is caused; scheme 3 requires modification of a conventional container to open the door at the top, and its container height is the container's own height, but specialized transportation equipment is also required for shipment.
Disclosure of Invention
First, the technical problem to be solved
The invention aims to provide a high-efficiency automatic boxing system for bulk material containers, which aims to at least solve one of the technical problems in the prior art or related technologies.
(II) technical scheme
In order to solve the technical problems, the invention provides a high-efficiency automatic boxing system for bulk material containers, which comprises the following components: the conveying mechanism, the flat-mounting mechanism and the first manipulator group; the conveying mechanism is arranged on the conveying track and is used for conveying the container to the flat-loading mechanism; the first manipulator is arranged on the side edge of the conveying track in a group mode and used for opening a door on the top surface of the container; the flush mounting mechanism is arranged above the conveying track and is positioned in front of the first manipulator group; the discharge port of the flat loading mechanism is opposite to the feed port of the container; wherein, the front is consistent with the material conveying direction.
(III) beneficial effects
According to the high-efficiency automatic boxing system for the bulk material containers, disclosed by the invention, the containers to be boxed are conveyed to the flat loading mechanism through the conveying mechanism, and the door on the top surface of the containers is opened through the first manipulator group, so that the flat loading mechanism can be used for boxing the containers, automatic continuous boxing is realized, and the loading efficiency of the containers is improved.
Drawings
FIG. 1 is a schematic diagram of a preferred embodiment of an efficient automatic bulk container loading system in accordance with the present invention;
FIG. 2 is a schematic view of a preferred embodiment of a manipulator according to the present invention;
FIG. 3 is a schematic view of the structure of a container in the high-efficiency automatic boxing system for bulk material containers shown in FIG. 1;
FIG. 4 is a schematic view of the structure of the flush mechanism in the high efficiency automatic boxing system for bulk material containers of FIG. 1;
FIG. 5 is a schematic view of the structure of the forked funnel and the diverting chute of the flush mechanism of FIG. 4;
FIG. 6 is a schematic view of the diverting chute of the flush mechanism of FIG. 4;
FIG. 7 is a diagram of the positional relationship of a first crane and a first manipulator group in the high-efficiency automatic boxing system for bulk material containers shown in FIG. 1;
in the figure, 1-door one; 2-a first door lever; 3-a first door plug handle; 4-a first socket; 5-a second door lever; 6-a second door handle; 7-a second socket; 8-single door opening; 9-door two; 10-a first crane; 11-flatbed; 12-a tractor; 13-a flush mounting mechanism; 14-a belt conveyor; 15-a second crane; 16-a discharge end of the belt conveyor; 17-scraping plate; 18-split chute; 19-a bifurcated funnel; 20-a buffer; 21-a base; 22-stand columns; 23-a hydraulic mechanism; 24-linkage mechanism; 25-a rotation mechanism; 26-arm; 27-a gripper; 28-a first manipulator group; 29-a second manipulator group; 30-a first lock base; 31-a second lock base.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the drawings and examples. The following examples are illustrative of the invention and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Fig. 1 shows a preferred embodiment of the high-efficiency automatic boxing system for bulk material containers of the present invention, as shown in fig. 1, comprising: a conveying mechanism, a flat-loading mechanism 13 and a first manipulator group 28; the conveying mechanism is arranged on the conveying track and is used for conveying the container to the flat loading mechanism 13; the first manipulator group 28 is arranged at the side edge of the conveying track and is used for opening the door of the top surface of the container; the flush mounting mechanism 13 is arranged above the conveying track and in front of the first manipulator group 28; the discharge port of the flat loading mechanism 13 is opposite to the feed port of the container; wherein, the front is consistent with the material conveying direction.
Specifically, the bulk material container efficient automatic boxing system comprises a conveying mechanism, a bottling mechanism and a first manipulator group 28; for example, the conveying mechanism is a transport vehicle or the like, and the conveying mechanism is arranged on the conveying track, so that the container can be conveyed to the area to be loaded along the conveying track by the conveying mechanism, namely, the loading area is the position of the flat loading mechanism 13. Since the container is provided with a door in its initial state and in its locked state, the door needs to be opened by a robot, for example, a mechanism that can be rotated and horizontally moved, before loading the material. For example, the feed port of the container is located on the top surface of the container body, and the door at the feed port is a double door, two manipulators are required to be disposed in the first manipulator group 28; for example, two manipulators are symmetrically arranged on both sides of the conveying track. I.e. the number of robots in the first robot group 28 corresponds to the number of doors provided at the feed opening of the container. And, for example, the flush mounting mechanism 13 is an automatic feeder; for example, the flush mounting mechanism 13 is located above the container; the material can be transported into the container by means of the flush-mounting mechanism 13.
Further, the high-efficient automatic vanning system of bulk cargo material container still includes: the second manipulator group is arranged at the side edge of the conveying track; the second manipulator group is arranged in front of the flat-loading mechanism and is used for closing the door on the top surface of the container. For example, the second manipulator group 29 is composed of two manipulators, and the two manipulators are symmetrically arranged on both sides of the conveying track, that is, the structure of the second manipulator group 29 is the same as that of the first manipulator group 28, and the number of manipulators in the second manipulator group is identical to that of the doors on the top surface of the container.
Further, as shown in fig. 1 and 7, the bulk material container efficient automatic boxing system further comprises: a first crane and/or a second crane; the first crane is arranged at the side edge of the conveying track and positioned behind the first manipulator group and is used for conveying the container to the flat car; the second crane is arranged at the side edge of the conveying track and is positioned in front of the second manipulator group and is used for unloading the container from the flat car. For example, the first crane 10 and the second crane 15 are gantry cranes, and empty containers can be lifted by the first crane 10; thereafter, the first crane 10 sequentially transfers the empty containers to the flatbed 11. And, the full container can be lifted by the second crane 15; after that, the second crane 15 lifts the fully loaded containers off the pallet truck 11 in sequence.
When the high-efficiency automatic boxing system for bulk material containers is used for container loading, the loading is carried out in three stages. The first stage, the empty container is placed on a conveying mechanism, and a double door on the top surface of the container is opened; at this stage, first, the first crane 10 places an empty container on the conveying mechanism, and the double door of the container is in a locked state at this time; then, the conveying mechanism carries the container to advance one container distance and stops advancing; subsequently, the first manipulator group 28 opens the double door of the top of the container, while the first crane 10 places the next empty container on the conveyor, and so on, until the conveyor is full of empty containers and all of the double doors of the top of the containers are opened.
In the second stage, the container with the double door opened is transported to the lower part of the flat loading mechanism 13 along the conveying track by the conveying mechanism, and is continuously loaded into the container. At this stage, the conveying mechanism continuously advances the container through the lower part of the leveling mechanism 13, and the leveling mechanism 13 continuously fills all containers with material in sequence, and can level the material in the containers. The third stage, closing the double door on the top surface of the container, and unloading the empty container from the conveying mechanism; at this stage, after the flush-mounting mechanism 13 has conveyed the material into the containers located therebelow and filled all of the containers, first, the conveying mechanism carries the containers forward to the second robot group 29 and stops traveling; then, the second manipulator group 29 closes the double door of the top surface of the first container; the travel is then stopped after the conveyor mechanism has advanced one container distance, the second robot group 29 closes the double door of the top surface of the second container, and at the same time the second crane 15 removes the first container from the pallet truck, and so on until all the double doors of the top surface of the containers are closed and all the containers are removed from the pallet truck. The high-efficiency automatic boxing system for the bulk material container is simple in structure, can automatically and continuously charge materials, and improves the loading efficiency.
Further, the conveying mechanism includes: tractor 12 and at least one flatbed 11; at least one flatbed 11 is connected in sequence on the conveying track; the tractor 12 is provided on the transfer rail and is connected to the foremost pallet 11. Empty containers may be placed in sequence on a pallet 11, i.e. one container on one pallet 11. After the container is placed on the flat car 11, the tractor 12 can drive the following flat car 11 to sequentially move along the conveying track, so as to drive the container to sequentially move forward.
Further, as shown in fig. 4 and 5, the flush mounting mechanism 13 includes: a hopper, a split chute 18 and a scraper 17; the feed inlet of the hopper is communicated with the discharge end 16 of the belt conveyor; the discharge port of the funnel is communicated with the feed port of the split chute 18; the discharge port of the diverting chute 18 is arranged above the container; the scraper 17 is connected to the body of the flush mounting mechanism 13 and the scraper 17 is located above the container. For example, the hopper is fixed on the main body of the flush mounting mechanism 13 with its feed inlet facing upwards; the belt conveyor 14 is connected with the main body of the flat loading mechanism 13, and the discharging end 16 of the belt conveyor is communicated with the feeding port of the hopper, for example, the discharging end 16 of the belt conveyor is communicated with the feeding port of the hopper through a flange; the material conveyed by the belt conveyor 14 may be transported into a hopper. And, communicating the discharge port of the funnel with the feed port of the diverting chute 18, e.g., communicating the discharge port of the funnel with the feed port of the diverting chute 18 via a flange; the material in the hopper can be transported into the container through the discharge opening of the diverting chute 18.
For example, the discharge port of the split chute 18 is formed in a herringbone shape as shown in fig. 6; for example, the herringbone discharge opening is arranged perpendicular to the conveying track; the material from the discharge port of the hopper can be conveyed to the diverting chute 18 and uniformly conveyed into the container through the herringbone discharge port, so that the uniformity of material filling in the container is ensured.
And, a scraper 17 is connected to the main body of the flush mounting mechanism 13, for example, the scraper 17 is a pear-shaped scraper 17; for example, the scraper 17 is connected to the main body of the flush mounting mechanism 13 by a height-adjustable member; the height of the squeegee 17 can be adjusted by the height-adjustable member, for example, a telescopic rod or the like. When less material is conveyed into the container, namely the material level is low, the telescopic rod can be extended, so that the scraper 17 is positioned above the material and is inserted into the material pile to a shallower depth, and the scraper 17 can level the surface of the material in the container; when the materials conveyed into the container are more, namely the material level is higher, the telescopic rod can be shortened, so that the scraping plate 17 is always positioned above the materials and is inserted into the shallow depth of the material pile, and the surface of the materials in the container can be always leveled by utilizing the scraping plate 17.
Further, the flush mounting mechanism 13 further includes: at least one buffer 20; the funnel is a bifurcation funnel 19, the bifurcation funnel 19 comprises at least two discharge ports, and the at least two discharge ports are sequentially arranged along the conveying track; one discharge port of the branching funnel 19 is communicated with the feed port of the branching chute 18, and the other discharge port is communicated with the buffer 20; the discharge port of the buffer 20 is provided above the container.
In addition to having a similar material guiding function as the diverting chute 18, the buffer 20 can store a certain amount of material, such as a container, and since the feeding of the belt 14 of the whole system is continuous, when a container is damaged and is not suitable for loading, the material is temporarily stored in the buffer 20 and then the next container is loaded. The funnel is set as a branching funnel 19, for example, the branching funnel 19 includes two discharge ports, and when one of the discharge ports passes through a gap between the front and rear containers, the discharge port stops discharging, and the other discharge port discharges, so that it is ensured that the material does not scatter to the gap between the two containers but is completely loaded into the containers under the continuous feeding condition of the belt conveyor 14. The bifurcated funnel 19 has more than two discharge ports, similar to the connection described above, and will not be described here. Therefore, the funnel is set as the bifurcation funnel 19, so that two discharge holes of the funnel are provided, continuous feeding of the belt conveyor 14 is ensured, and the efficiency of the whole feeding system is improved.
Further, as shown in fig. 3, the top surface of the container is provided with a double door, and the double door is a feed inlet of the container; the two door bodies of the double door are provided with first locking mechanisms; the lower part of the side surface of the container is provided with a single door, the opening direction of the single door faces the bottom surface of the container, and the single door is a discharge opening of the container; the single door is provided with a second locking mechanism.
Specifically, the container comprises a frame body of the container, and a top plate, a bottom plate, a front plate, a rear plate and a pair of side plates which are arranged on the frame body, so that the container body can be formed, and the container is of a cuboid structure. A double door is arranged on the top surface of the container, and comprises two door bodies, for example, a first door 1 and a second door 9, namely, one side of the first door 1 is rotatably connected with the container body, for example, one side of the first door 1 is rotatably connected with the container body through a hinge; the connection mode of the second door 9 and the container body can be the same as the connection mode of the first door 1 and the container body. When the first locking mechanism is locked, the other side of the first door 1 is contacted with the other side of the second door 9 when the first double door is in a closed state, so that the feed inlet of the container can be closed; correspondingly, the first locking mechanism is opened to open the feed inlet of the container.
And a single door 8 is provided on a side of the container, for example, one side of the single door 8 is rotatably connected to the container body by a hinge. When the second locking mechanism on the single door 8 is locked, the single door 8 can be in a closed state, and the discharging hole of the container is closed or opened when the second locking mechanism on the single door 8 is opened, and the discharging hole of the container is opened when the single door 8 is in an opened state.
In addition, the first locking mechanism is similar to the locking device of the existing standard container in structure, and can comprise: a first door lever 2, a first lock part and a first lock base 30; the first door rod 2 is arranged on the door body of the first door 1 along the length direction of the door body of the double door, the first door rod 2 can rotate around the axis of the first door rod, and two ends of the first door rod 2 are respectively provided with a lock head; the action end 3 of the first lock part is rotatably connected with the first door rod 2; the connecting end 4 of the first lock part is provided with a door 1 on the door body; the first lock seats 30 are symmetrically arranged on the container body. The action end 3 of the first lock part is pulled out from the connecting end 4 of the first lock part, and the action end 3 of the first lock part is rotated to enable the first door rod 2 to drive the tapered ends at two ends of the first door rod to rotate, so that the tapered ends are separated from the first lock seat, the first door rod 2 and the container body are separated, and the first door 1 is in an open state. The door 1 can be locked by the opposite operation. And the locking mechanism of the second door 9 and the locking mechanism of the first door 1 are symmetrically arranged, and the structure and the working principle of the locking mechanism are identical, so that the opening and locking operation modes of the second door 9 and the first door 1 are identical.
Further, the second locking mechanism includes: a second door lever 5, a second lock part and a second lock seat 31; the second door rod 5 is arranged on a door body of the single door 8 along the length direction of the single door 8, the second door rod 5 can rotate around the axis of the second door rod, and two ends of the second door rod 5 are respectively provided with a lock head; the action end 6 of the second lock part is rotatably connected with the second door rod 5; the connecting end 7 of the second lock part is arranged on the single-door 8; two second lock seats 31 are symmetrically arranged on the container body. The action end 6 of the second lock part is pulled out from the connecting end 7 of the second lock part, and the action end 6 of the second lock part is rotated to enable the second door rod 5 to drive the tapered ends at two ends of the second door rod to rotate, so that the tapered ends are separated from the second lock seat 31, the second door rod 5 and the container body are separated, and the single door 8 can be in an open state. The single door 8 can be put in a locked state by the opposite operation.
Further, one end face of the container body is provided with a second double-door which is an inlet and an outlet of the container; a third locking mechanism is arranged on both door bodies of the second double door; the second double door and the third locking mechanism are similar to the existing standard container in structure and working principle. The end face of the container body is in a closed state or an open state by locking or unlocking the third locking mechanism by arranging the second double door on the end face of the container body and arranging the third locking mechanism on the two door bodies of the second double door. The container can retain the original functions on the basis of being capable of containing bulk cargo; the piece goods can be loaded into the container from the second double door, and the second double door is closed by locking the third locking mechanism. The container can be used for loading bulk cargoes and also can be used for loading the bulk cargoes, so that the applicability of the container is improved.
Fig. 2 shows a preferred embodiment of the manipulator of the present invention, as shown in fig. 2, comprising: the upright post 22, the hydraulic mechanism 23, the link mechanism 24, the rotating mechanism 25 and the gripper 27; the upright post 22 is rotatably arranged on the base 21, the link mechanism 24 is horizontally arranged, and the upper end of the upright post 22 is connected with the connecting end of the link mechanism 24; the connecting end of the hydraulic mechanism 23 is connected with the lower end of the upright post 22, and the action end is connected with one end of the connecting rod mechanism 24, which is close to the upright post 22; the other end of the link mechanism 24 is connected with the connecting end of the rotating mechanism 25; the grip 27 is provided at the operating end of the rotation mechanism 25.
Specifically, the upright 22 is rotatably provided on the base 21, for example, the upright 22 is vertically provided; for example, the column 22 is connected to the base 21 via a rotation shaft. And, arranging the link mechanism 24 horizontally, i.e., making the link mechanism 24 and the upright 22 mutually perpendicular, and connecting the connecting end of the link mechanism 24 with the upper end of the upright 22, e.g., the connecting end of the link mechanism 24 is located at a position of the link mechanism 24 near the right end thereof; for example, the connection relationship between the two is movable connection or rotatable connection. And the connecting end of the hydraulic mechanism 23 is connected with the lower end of the upright 22, and the action end of the hydraulic mechanism 23 is connected with one end of the connecting rod mechanism 24 close to the upright 22, namely the action end of the hydraulic mechanism 23 is connected with the right end of the connecting rod mechanism 24, for example, the connection relation of the two is rotary connection; the link mechanism 24 can be driven to swing up and down by the hydraulic mechanism 23.
And connecting the connection end of the rotation mechanism 25 with the other end of the link mechanism 24, that is, connecting the connection end of the rotation mechanism 25 with the left end of the link mechanism 24, for example, the connection relationship between the two is rotatable connection. The gripper 27 is connected to the actuating end of the rotation mechanism 25, for example, the gripper 27 is connected to the actuating end of the rotation mechanism 25 through an arm 26, for example, the connection relationship is a movable link or a fixed connection, and the gripper 27 can be driven to rotate through the rotation mechanism 25. The rotation and up-down actions of the manipulator can be utilized to open and lock the double door of the container for transporting bulk cargo, and the single door of the container can be opened and locked, etc.
In the embodiment, the rotating mechanism of the manipulator can drive the gripper to rotate so as to change the horizontal displacement of the gripper; the connecting rod mechanism, the rotating mechanism and the gripper can be driven to move up and down through the hydraulic mechanism, so that the vertical displacement of the gripper is changed; the operation capability of the manipulator is improved, so that the manipulator can be suitable for more occasions.
Further, the manipulator further includes: a sensor provided at the end of the linkage 24 near the grip 27; the sensors are connected to the hydraulic mechanism 23 and the rotation mechanism 25, respectively. For example, the sensor is an infrared sensor, and the sensor is disposed at the left end of the linkage 24, i.e., the sensor is disposed proximate the grip 27; the sensor can detect whether the position of the gripper 27 is accurate in real time, and if the sensor detects that the gripper 27 does not move to the position to be gripped, the position of the gripper 27 can be adjusted through the interaction of the rotating mechanism 25 and the hydraulic mechanism 23; until the sensor detects that the grip 27 is at the gripping position, the hydraulic mechanism 23 and the rotating mechanism 25 can stop working, and the accuracy and reliability of the manipulator are improved.
Further, the link mechanism 24 includes: a first connecting rod and a second connecting rod which are arranged in parallel up and down, wherein the first connecting rod is shorter than the second connecting rod; one end of the first connecting rod is connected with the upper end of the upright post 22, and the other end of the first connecting rod is connected with the connecting end of the rotating mechanism 25; the opposite part of one end of the second connecting rod and one end of the first connecting rod is connected with the upper end of the upright post; the end part of the second connecting rod, which is close to one end of the first connecting rod, is connected with the action end of the hydraulic mechanism 23; the end of the second link near the other end of the first link is connected to the connection end of the rotation mechanism 25. For example, the right end of the first link is rotatably connected to the upper end of the column 22, and the left end is rotatably connected to the connection end of the rotation mechanism 25. For example, the right end of the second connecting rod is connected with the action end of the hydraulic mechanism 23, for example, the connection relationship between the right end and the action end is hinged; the left end of the second link is rotatably connected with the connecting end of the rotating mechanism 25, and the second link is connected with the upper end of the upright 22 at a position opposite to the left end of the first link in the length direction, for example, the connection relationship between the two is rotatable connection, and the hydraulic mechanism 23 can drive the first link and the second link in the link mechanism 24 to move up and down, so that the rotating mechanism 25 and the gripper 27 are driven to translate up and down without rotation, and the vertical displacement of the gripper is changed.
In addition, the rotating mechanism 25 may be provided as a projecting arm and a rotating base, the connecting end of the rotating base is connected to the left end of the link mechanism 24, and the rotating end is connected to one end of the projecting arm; and a grip 27 is connected to the other end of the arm via arm 26. The rotary seat can drive the extending arm to rotate, so as to drive the grip 27 to rotate, thereby changing the horizontal displacement of the grip 27.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (8)
1. An efficient automatic boxing system for bulk material containers, comprising: the conveying mechanism, the flat-mounting mechanism and the first manipulator group;
the conveying mechanism is arranged on the conveying track and is used for conveying the container to the flat-loading mechanism;
the first manipulator is arranged on the side edge of the conveying track in a group mode and used for unlocking and opening a door on the top surface of the container;
the flush mounting mechanism is arranged above the conveying track and is positioned in front of the first manipulator group; the discharge port of the flat loading mechanism is opposite to the feed port of the container;
wherein the front is consistent with the material conveying direction;
wherein, first manipulator group includes two with respect to conveying mechanism symmetry sets up the manipulator, the manipulator includes: the device comprises an upright post, a hydraulic mechanism, a connecting rod mechanism, a rotating mechanism and a handle;
the upright post is rotatably arranged on the base, the connecting rod mechanism is horizontally arranged, and the upper end of the upright post is connected with the connecting end of the connecting rod mechanism;
the connecting end of the hydraulic mechanism is connected with the lower end of the upright post, and the action end of the hydraulic mechanism is connected with one end, close to the upright post, of the connecting rod mechanism;
the other end of the connecting rod mechanism is connected with the connecting end of the rotating mechanism; the gripper is arranged at the action end of the rotating mechanism;
the high-efficiency automatic boxing system for bulk material containers further comprises: the second manipulator group is arranged at the side edge of the conveying track; the second manipulator is arranged in front of the flat-loading mechanism and used for closing and locking the door on the top surface of the container.
2. The bulk material container efficient automatic boxing system in accordance with claim 1, wherein said conveying mechanism comprises: a tractor and at least one flatbed;
at least one flatbed is connected with the conveying track in sequence, and the tractor is connected with the flatbed at the front end.
3. The bulk material container efficient automatic boxing system in accordance with claim 2, further comprising: a first crane and/or a second crane;
the first crane is arranged on the side edge of the conveying track and is positioned behind the first manipulator group and used for conveying the container to the flat car;
the second crane is arranged on the side edge of the conveying track and is positioned in front of the second manipulator group and used for unloading the container from the flat car.
4. The bulk material container efficient automatic boxing system in accordance with claim 1, wherein said manipulator further comprises: the sensor is arranged at the end part of the connecting rod mechanism, which is close to the grip; the sensor is respectively connected with the hydraulic mechanism and the rotating mechanism.
5. The bulk material container efficient automatic boxing system in accordance with claim 1, wherein said linkage comprises: a first link and a second link arranged in parallel up and down, and the first link is shorter than the second link;
one end of the first connecting rod is connected with the upper end of the upright post, and the other end of the first connecting rod is connected with the connecting end of the rotating mechanism;
the opposite position of one end of the second connecting rod and one end of the first connecting rod is connected with the upper end of the upright post; the end part of the second connecting rod, which is close to one end of the first connecting rod, is connected with the action end of the hydraulic mechanism; the end part of the second connecting rod, which is close to the other end of the first connecting rod, is connected with the connecting end of the rotating mechanism.
6. The efficient automatic bulk container loading system according to any one of claims 1-5, wherein said flush-mounting mechanism comprises: a funnel, a split chute and a scraper;
the feeding port of the hopper is communicated with the discharging end of the belt conveyor; the discharge port of the funnel is communicated with the feed port of the split chute; the discharge hole of the split chute is arranged above the container;
the scraping plate is connected with the main body of the flush mounting mechanism, and the scraping plate is positioned above the container.
7. The efficient automatic boxing system for bulk material containers in accordance with claim 6, wherein said flush mounting mechanism further comprises: at least one buffer; the hopper is a bifurcation hopper, and the bifurcation hopper comprises at least two discharge holes, and the at least two discharge holes are sequentially arranged along the conveying track;
one discharge port of the bifurcation funnel is communicated with the feed port of the diversion chute, and the other discharge port of the bifurcation funnel is communicated with the buffer; and a discharge hole of the buffer is arranged above the container.
8. The efficient automatic boxing system for bulk material containers according to any one of claims 1-5, wherein the top surface of the container is provided with a double door, and the double door is a feed inlet of the container; the two door bodies of the double door are provided with first locking mechanisms;
the lower part of the side surface of the container is provided with a single door, the opening direction of the single door faces the bottom surface of the container, and the single door is a discharge opening of the container; and a second locking mechanism is arranged at the single door opening position.
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| CN110834893A (en) * | 2019-12-05 | 2020-02-25 | 金子农机（无锡）有限公司 | Movable grain conveying auger |
| CN112061803A (en) * | 2020-08-10 | 2020-12-11 | 鄂尔多斯市鑫聚源供应链管理有限责任公司 | Centralized control system for container packing equipment |
| CN112707181B (en) * | 2020-12-17 | 2022-09-30 | 上海海事大学 | A bulk-to-collection automatic packing device and system |
| CN113335957A (en) * | 2021-06-10 | 2021-09-03 | 深圳市利建混凝土有限公司 | Automatic distribution and scattered improvement of concrete aggregate management system |
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