[go: up one dir, main page]

CN114013892A - A kind of bagged flour silo truck and its working method - Google Patents

A kind of bagged flour silo truck and its working method Download PDF

Info

Publication number
CN114013892A
CN114013892A CN202111182465.XA CN202111182465A CN114013892A CN 114013892 A CN114013892 A CN 114013892A CN 202111182465 A CN202111182465 A CN 202111182465A CN 114013892 A CN114013892 A CN 114013892A
Authority
CN
China
Prior art keywords
module
belt
conveying
conveyor
feeding 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.)
Granted
Application number
CN202111182465.XA
Other languages
Chinese (zh)
Other versions
CN114013892B (en
Inventor
李诚辉
许明
王旭
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Dianzi University
Original Assignee
Hangzhou Dianzi University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hangzhou Dianzi University filed Critical Hangzhou Dianzi University
Priority to CN202111182465.XA priority Critical patent/CN114013892B/en
Publication of CN114013892A publication Critical patent/CN114013892A/en
Application granted granted Critical
Publication of CN114013892B publication Critical patent/CN114013892B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • 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
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Intermediate Stations On Conveyors (AREA)
  • Attitude Control For Articles On Conveyors (AREA)

Abstract

本发明公开了一种袋装面粉仓内搬运车及其工作方法。该搬运车包括移动支撑模块、承重模块、输送模块和夹取模块。承重模块安装在移动支撑模块上，且能够在动力元件的驱动下绕水平轴线翻转。输送模块包括输送框、上料输送机、翻板组件和带式束缚组件。输送模块安装在输送框上，且能够在动力元件的驱动下滑动。上料输送机安装在输送框上。夹取模块安装在上料输送机上，且夹持口朝向输送模块向外推出的方向。翻板组件包括合页舵机和两用挡板。一个或多个带式束缚组件安装在上料输送机上。本发明通过搬运车前进与倾斜状态的上料输送机向后输送相配合，使得柔软的面粉袋在不发生拖拽的情况下完成了面粉袋的抬起动作，实现了高自动化的仓内袋装面粉运输。

Figure 202111182465

The invention discloses a bagged flour silo in-carrying vehicle and a working method thereof. The truck includes a mobile support module, a load-bearing module, a conveying module and a gripping module. The load-bearing module is mounted on the mobile support module and can be turned over around the horizontal axis under the driving of the power element. The conveying module includes conveying frame, feeding conveyor, flap assembly and belt restraint assembly. The conveying module is mounted on the conveying frame and can slide under the driving of the power element. The feeding conveyor is installed on the conveying frame. The gripping module is installed on the feeding conveyor, and the gripping port faces the direction in which the conveying module is pushed out. The flap assembly includes a hinge servo and a dual-purpose baffle. One or more belt restraint assemblies are mounted on the infeed conveyor. The invention cooperates with the forwarding of the truck and the backward conveying of the feeding conveyor in the inclined state, so that the soft flour bag can complete the lifting action of the flour bag without being dragged, and realize the high-automation bag inside the warehouse Loaded with flour for transportation.

Figure 202111182465

Description

Carrier in bagged flour bin and working method thereof
Technical Field
The invention belongs to the technical field of logistics carriers, and particularly relates to a carrier in a bagged flour bin and a working method of the carrier.
Background
With the continuous development of the truck technology, people use the truck to be applied to various industries, however, although a great deal of research is carried out in the field of the truck, more people pay little attention to the extraction and transportation of flexible and vulnerable targets when the extraction target is rigid, so that the technology in the field is still immature, and the application and design scheme are few. Aiming at the carrying mode of bagged flour in the flour warehouse at present, the invention provides the carrier in the bagged flour warehouse in order to improve the reliability of flour bags in the carrying process and fully consider the properties of the flour bags such as flexibility, vulnerability, flammability and explosiveness, and the like, and the carrier can realize the reliable carrying process of the flour bags in the flour warehouse in a relatively mild mode.
Disclosure of Invention
The invention aims to provide a carrier in a bagged flour bin and a working method thereof.
A carrier in a bagged flour bin comprises a movable supporting module, a bearing module, a conveying module and a clamping module. The bearing module is installed on the mobile support module and can be overturned around a horizontal axis under the driving of the power element. The conveying module comprises a conveying frame, a feeding conveyor, a turning plate assembly and a belt type binding assembly. The conveying module is installed on the conveying frame and can slide under the driving of the power element. The feeding conveyor is arranged on the conveying frame. The clamping module is installed on the feeding conveyor, and the clamping opening faces the direction in which the conveying module is pushed out outwards.
The turning plate assembly is arranged at the end part of the feeding conveyor, which can be pushed out outwards. The turning plate component comprises a hinge steering engine and a dual-purpose baffle. The dual-purpose baffle is articulated with the tip of material loading conveyer, can overturn under the drive of hinge steering wheel. The dual-purpose baffle has one or more blocks arranged side by side. The dual-purpose baffle has two working postures which are respectively a shovel plate working posture and a baffle plate working posture. And under the working posture of the shovel plate, the top surface of the dual-purpose baffle is flush with the conveying surface of the feeding conveyor. Under the baffle working posture, the dual-purpose baffle is higher than the conveying surface of the feeding conveyor, and can prevent goods on the feeding conveyor from sliding downwards.
One or more belt restraint assemblies are mounted on the infeed conveyor. The belt restraint assembly includes a positioning belt and a belt motor. One end of the positioning belt is fixed with one side of the conveying frame. The positioning belt is wound around the conveying surface of the feeding conveyor, and the other end of the positioning belt is connected to the other side of the conveying frame. The positioning belt is tightened or loosened under the driving of the belt motor.
Preferably, the movable support module comprises a movable seat, a driving wheel and a universal wheel; two ends of the movable seat are provided with two extension arms. The bottom ends of the four extension arms are all provided with universal wheels. The two driving wheels are respectively arranged at two sides of the movable seat and are respectively driven by two motors. The front end of the movable seat is provided with a tracking camera.
Preferably, a hydraulic cylinder is arranged between the movable support module and the bearing module. The cylinder body and the piston rod of the hydraulic cylinder are respectively hinged with the movable support module and the bearing module.
Preferably, a sliding driving assembly is arranged between the bearing module and the conveying module. The sliding driving assembly comprises a lead screw motor and a ball screw. The lead screw motor is installed on the bearing module. A ball screw driven by a screw motor is supported on the load bearing module. The bottom of the conveying frame is fixed with a screw rod slide block. The screw slide block and the ball screw form a screw pair.
Preferably, the ends of the load bearing modules are provided with check proximity switches. The check proximity switch is used for limiting the conveying module.
Preferably, the conveying frame is provided with an inner track sliding block and an extension track sliding block. The number of the inner track sliding blocks is four, and the inner track sliding blocks are respectively arranged on two sides of the middle part of the bottom surface of the conveying frame and two sides of the rear end of the bottom surface of the conveying frame; the two extending-out type track sliding blocks are respectively arranged on two sides of the front end of the bottom surface of the conveying frame. Four first rollers which are arranged in a rectangular shape are arranged on the inner track sliding block, and every two first rollers are distributed on two sides of the edge of the bearing module in a group and hold the bearing frame. Two second rollers which are arranged side by side are arranged on the extension type track sliding block; the two second rollers are located on the same side of the load-bearing frame.
Preferably, the belt motor is installed at a side portion of the conveying frame. The non-fixed end of the positioning belt is wound on the belt winding wheel of the belt motor output shaft.
Preferably, the conveying module further comprises a motor mounting plate and a positioning camera. The motor mounting plate is fixed at the end part of the top surface of the conveying frame far away from the turning plate assembly. The positioning camera is fixed in the middle of the front surface of the motor mounting plate. The feeding conveyor comprises a conveyor belt driving motor, a second belt transmission assembly, a roller fixing plate, conveyor belt rollers and a conveyor belt. Two roller fixing plates are respectively arranged at two sides of the top surface of the conveying frame. A plurality of conveyor belt rollers which are sequentially arranged at intervals are supported between the two roller fixing plates. The conveyor belt rollers are connected by a conveyor belt. Two conveyor belt driving motors are installed at two ends of the motor installation plate in a centering mode. The output shafts of the two conveyor belt driving motors are connected with two ends of one conveyor belt roller through the second belt transmission assembly respectively, and power transmission is achieved.
Preferably, the clamping module comprises an adjusting arm, a mounting block, a protection block, a gear driving motor, a guide sliding rod and a central gear. Both sides of the feeding conveyor are fixed with notch slide rails. The two ends of the guide slide bar respectively extend into the sliding grooves on the two notch slide rails. The mounting block is fixed on the guide slide rod and is fixed with the conveyor belt. The front of the mounting block is provided with a through hole and two slide rails. Two slide rails are arranged on two sides of the through hole in a centering way. The gear driving motor is arranged on the back of the mounting block, and an output shaft of the gear driving motor penetrates through the through hole to be fixed with the central gear. Two adjusting arms which are centrosymmetric about the axis of the central gear and two slide rails respectively form a sliding pair. The adjusting arm is provided with a rack structure meshed with the central gear. The outer end of the adjusting arm faces the front end of the feeding conveyor. The outer ends of the two adjusting arms are provided with concave clamping ports which are opposite to each other. The outer end of the concave clamping opening is provided with a protruding clamping block. The protruding clamping blocks are used for clamping the binding position of the binding band at the opening of the flour bag. The protection block is fixed on the surface of the mounting block and is positioned on the outer side of the central gear, and is used for avoiding the central gear from being directly collided.
The working method of the trolley in the bagged flour bin comprises the following specific steps:
step one, when a carrying instruction is received, the carrying vehicle moves to the position of the target flour bag and faces to an opening binding belt of the target flour bag. When the distance between the hinge steering engine and the target flour bag is preset, the hinge steering engine drives the dual-purpose baffle to open; the bearing module is obliquely turned to a preset angle; the transport module is pushed out relative to the load-bearing module.
And step two, the clamping module is driven by the feeding conveyor to move downwards. The carrier moves toward the target flour bag so that the clamp module moves to a position where the open binding band of the target flour bag can be clamped.
After the clamping module clamps the target flour bag, the carrier moves forwards, and the dual-purpose baffle plate scoops up the target flour bag; meanwhile, the feeding conveyor drives the target flour bag to be conveyed upwards in an inclined mode. Traveling speed V of carrierMachine for working＝VBeltcos θ; wherein theta is the inclination angle of the feeding conveyor; vBeltThe conveying speed of the feeding conveyor.
And step four, after the target flour bag is completely separated from the ground, the feeding conveyor stops conveying, and the positioning belt of the belt type binding assembly is tightened under the driving of the belt motor. The load bearing module returns to a horizontal position. The transport module is reset inwardly relative to the load bearing module. The dual-purpose baffle of hinge steering wheel drive returns baffle operating posture.
And step five, after the carrier carries the target flour bag to travel to the target end point position, automatically unloading the target flour bag.
The invention has the beneficial effects that:
1. according to the invention, the forward movement of the carrier is matched with the backward conveying of the feeding conveyor in an inclined state, so that the soft flour bag is lifted without dragging, and the high-automation bagged flour transportation in the bin is realized.
2. The flour bag loading and conveying device ensures the safety of the flour bag in the loading and conveying process by adopting the matching of the clamping module and the positioning belt.
3. According to the invention, the slide rail mechanism is adopted, and a plurality of modules are integrated in the same area, so that the volume of the carrier is obviously reduced.
4. The invention adopts multi-camera positioning, realizes closed-loop control in the carrying process and obviously improves the reliability and stability of the carrier. In addition, the hydraulic cylinder and the ball screw are matched, so that the conveying module reaches the specified working posture, and the structure is simple and stable.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a mobile support module of the present invention;
figure 3 is a schematic view of a load bearing module of the present invention;
FIG. 4 is a first schematic view of a transport module of the present invention;
FIG. 5 is a second schematic view of the conveyor module of the present invention;
FIG. 6 is a schematic view of an inner track slider of the present invention;
FIG. 7 is a schematic view of an extended track slider of the present invention;
fig. 8 is a first schematic view of the gripping module of the present invention;
FIG. 9 is a second schematic view of the gripping module of the present invention;
FIG. 10 is a schematic view of a mounting block of the present invention;
fig. 11 is a schematic diagram of the operation of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings, in which "front" and "rear" are described with reference to the direction of travel.
As shown in fig. 1, the truck for use in the bagged flour warehouse comprises a movable support module 1, a bearing module 2, a conveying module 3 and a clamping module 4. The bearing module 2 is arranged on the movable supporting module 1 in a hinge mode, the conveying module 3 is arranged on the bearing module 2 through slide rail connection, and the clamping module 4 is arranged on the conveying module 3.
As shown in fig. 2, the movable support module 1 comprises a movable base 1-1, a hydraulic cylinder 1-2, a driving wheel 1-3 and a universal wheel 1-4; two ends of the movable seat are provided with two extension arms 1-5. The bottom ends of the four extension arms 1-5 are all provided with universal wheels 1-4. Two driving wheels 1-3 are respectively arranged at two sides of the movable seat 1-1 and are respectively driven by two motors. The front end of the movable seat 1-1 is provided with a tracking camera 1-6. The end part of the cylinder body of the hydraulic cylinder 1-2 is connected with the bottom of the rear end of the movable seat 1-1 through a hinge; two hinge ports 1-7 which are symmetrically distributed are arranged on the front side of the top of the movable seat 1-1 and are used for being connected with the bearing module 2 through hinges.
As shown in figure 3, the bearing module 2 comprises a bearing frame 2-1, a sliding driving assembly, a return proximity switch 2-4, a hydraulic cylinder hinge interface 2-5 and a hinge block 2-7. The hydraulic cylinder hinge joint 2-5 is arranged at the rear end of the bottom of the bearing frame 2-1 and is used for being connected with a hydraulic cylinder output shaft in a hinge mode. Two hinged blocks 2-7 are arranged at the middle front position of the bottom of the bearing frame 2-1. The hinge block 2-7 is rotatably connected with the hinge port 1-7 on the movable seat 1-1. The sliding driving assembly comprises a lead screw motor 2-1, a first belt transmission assembly 2-3 and a ball screw 2-6. The screw motor 2-2 is arranged at the rear end of the bearing frame 2-1, and the ball screw 2-6 is arranged at the lower side of the center of the bearing frame 2-1 along the long edge of the bearing frame 2-1. The ball screw 2-6 is connected with the output shaft of the screw motor 2-2 through the first belt transmission component 2-3 and transmits power. The check proximity switch 2-4 is arranged at the rear end of the top of the bearing frame 2-1.
As shown in fig. 1, 4, 5, 6 and 7, the conveying module 3 comprises a conveying frame 3-1, a motor mounting plate 3-2, a positioning camera 3-3, an inner track sliding block 3-7, an extension track sliding block 3-8, a screw rod sliding block 3-15, a notch sliding rail 3-12, a feeding conveyor, a flap assembly and a belt type binding assembly. The screw rod sliding block 3-15 is arranged at the bottom of the conveying frame 3-1, and a proximity switch 3-16 is arranged on one side of the screw rod sliding block close to the front end of the bearing frame 2-1. The screw rod sliding blocks 3-15 and the ball screws 2-6 form a screw pair.
The number of the inner track sliding blocks 3-7 is four, and the inner track sliding blocks are respectively arranged on two sides of the middle part of the bottom surface of the conveying frame 3-1 and two sides of the rear end; the number of the extension type track sliding blocks 3-8 is two, and the extension type track sliding blocks are respectively arranged on two sides of the front end of the bottom surface of the conveying frame 3-1. Four first rollers 3-7-1 which are arranged in a rectangular shape are arranged on the inner track sliding block 3-7, and are distributed on two sides of the edge supporting section bar of the bearing frame 2-1 in a group two by two to hold the bearing frame 2-1, so that the sliding connection of the conveying frame 3-1 and the bearing frame 2-1 is realized. Two second rollers 3-8-1 which are arranged side by side are arranged on the extension type track sliding block 3-8; the two second rollers 3-8-1 are positioned on the same side of the bearing frame 2-1, so that the stability of the conveying frame 3-1 is improved in the transportation process.
The motor mounting plate 3-2 and the feeding conveyor are both arranged on the conveying frame 3-1. The motor mounting plate 3-2 is positioned at the rear end of the top of the conveying frame 3-1. The feeding conveyor comprises a conveyor belt driving motor 3-4, a second belt transmission component 3-5, a roller fixing plate 3-6, conveyor belt rollers 3-11 and conveyor belts 3-17. Two roller fixing plates 3-6 are respectively arranged on two sides of the top surface of the conveying frame 3-1. A plurality of conveyor belt rollers 3-11 which are arranged at intervals in sequence are supported between the two roller fixing plates 3-6. The conveyor rollers 3-11 are connected by conveyor belts 3-17. Two conveyor belt driving motors 3-4 are arranged at two ends of the motor mounting plate 3-2 in a centering way. The output shafts of the two conveyor belt driving motors 3-4 are respectively connected with two ends of one conveyor belt roller 3-11 through the second belt transmission components 3-5, so that power transmission is realized.
A plurality of belt restraint assemblies are arranged at intervals along the conveying direction of the feeding conveyor. The belt restraint assembly includes a positioning belt 3-13 and a belt motor 3-14. One end of the positioning belt 3-13 is fixed with one side of the conveying frame 3-1. The belt motor 3-14 is installed at the other side of the conveying frame 3-1. The other end of the positioning belt 3-13 is wound on a belt winding wheel of an output shaft of the belt motor 3-14.
The flap assembly is mounted at the front end of the conveyor module 3. The turning plate assembly comprises hinge steering engines 3-9 and dual-purpose baffles 3-10. Two hinge steering engines 3-9 are respectively arranged on two sides of the front end of the conveying frame 3-1; two dual-purpose baffles 3-10 are arranged at the front end of the feeding conveyor side by side, and the bottom edges of the dual-purpose baffles are respectively hinged with two roller fixing plates 3-6. The two dual-purpose baffles 3-10 are respectively driven to turn over by two hinge steering engines 3-9. The two dual-purpose baffles 3-10 can be used for scooping up the flour bag in the outward turning state and preventing the flour bag from falling off from the feeding conveyor in the inward withdrawing state.
As shown in fig. 8, 9 and 10, the gripping module 4 includes an adjusting arm 4-1, a mounting block 4-2, a protection block 4-3, a gear driving motor 4-4, a guide slide 4-5 and a center gear 4-7. The top parts of the two roller fixing plates 3-6 are both fixed with notch sliding rails 3-12. Two ends of the guide sliding rod 4-5 respectively extend into the sliding grooves on the two notch sliding rails 3-12. The mounting block 4-2 is fixed on the guide slide bar 4-5 and is fixed with the conveyor belt 3-17. The front surface of the mounting block 4-2 is provided with a through hole 4-3-3 and is provided with two slide rails 4-3-1 and two protection block mounting columns 4-3-2. The two slide rails 4-3-1 are arranged at two sides of the through hole 4-3-3 in a centering way. The two protection block mounting columns 4-3-2 are positioned on the two slide rails 4-3-1 and are arranged on two sides of the through hole 4-3-3 in a centering manner. The gear driving motor 4-4 is arranged on the back of the mounting block 4-2, and an output shaft of the gear driving motor passes through the through hole 4-3-3 and is fixed with the central gear 4-7. Two adjusting arms 4-1 which are symmetrical with the axis of the central gear 4-7 and two sliding rails 4-3-1 respectively form a sliding pair. The adjusting arm 4-1 is provided with a rack structure 4-8 meshed with the central gear 4-7. The outer end of the adjusting arm 4-1 faces the front end of the feeding conveyor. The outer ends of the two adjusting arms 4-1 are provided with concave clamping openings 4-6 which are opposite to each other. The outer ends of the concave clamping openings 4-6 are provided with protruding clamping blocks. The protruding clamping blocks are used for clamping the binding position of the binding band at the opening of the flour bag. The protection block 4-3 is fixed on the two protection block mounting columns 4-3-2. The protective block 4-3 is positioned outside the central gear 4-7 to prevent the flour bag from directly colliding with the central gear 4-7.
The working method of the trolley in the bagged flour bin comprises the following specific steps:
when a carrying instruction is received, the carrying vehicle firstly finds a target flour bag through a tracking camera, moves and is close to an opening binding band of the target flour bag, when the distance between the carrying vehicle and the target flour bag is preset, a hinge steering engine drives a dual-purpose baffle to open, a hydraulic cylinder pushes a bearing module to incline for a certain angle, and a lead screw motor rotates forwards to push a ball screw to push a conveying module to incline and descend;
the clamping module is driven by the feeding conveyor to move downwards; then, carrying out machine fine adjustment by using a positioning camera according to the position of a target flour bag, driving the two adjusting arms to open by the gear driving motor after the fine adjustment is finished, slowly moving the carrier to the target flour bag, and driving the two adjusting arms to clamp by the gear driving motor when the concave clamping openings 4-6 of the two adjusting arms reach the two sides of the opening binding band of the target flour bag so as to clamp the opening binding band of the target flour bag; then the carrier moves forwards, and the dual-purpose baffle plate scoops up the target flour bag; meanwhile, the conveyor belt driving motor works to drive the conveyor belt to move, and the target flour bag is driven to be conveyed upwards along the conveyor belt in an inclined mode. When the target flour bag is completely separated from the ground, the driving motor of the conveyor belt stops rotating, and the positioning belts 3-13 of the belt type binding assembly are tightened under the driving of the belt motors 3-14. The screw motor reverses, the ball screw withdraws the conveying module, the hydraulic cylinder withdraws, the bearing module recovers to a horizontal state, the hinge steering engine drives the dual-purpose baffle to turn inwards to reset, and the carrier carries the target flour bag to a target position through the tracking camera according to a preset track to complete the carrying process.
As shown in fig. 11, the principle of loading the flour bag of the carrier is as follows:
after the pose of the transport vehicle is adjusted, the clamping module can clamp the position of an opening binding band which is easiest to clamp the target flour bag; the positioning belt can ensure that the target flour bag keeps a fixed posture in the carrying process; avoiding the possible accidents caused by external factors. During loading, the target flour bag is subjected to the friction force F of the conveyor beltfAnd a supporting force FNAnd is transported to the conveyor belt at a constant speed.
In order to minimize the possible damage to the target flour bag during loading, the relationship between the moving speed of the conveyor and the forward moving speed of the transporting vehicle is set as follows:
Vmachine for working＝VBeltcosθ
Wherein θ is the angle of inclination of the load bearing module, VMachine for workingFor the forward speed of the carrier, VBeltIs the speed of movement of the conveyor belt.

Claims (10)

1.一种袋装面粉仓内搬运车，包括移动支撑模块(1)、承重模块(2)、输送模块(3)和夹取模块(4)；其特征在于：所述的承重模块(2)安装在移动支撑模块(1)上，且能够在动力元件的驱动下绕水平轴线翻转；所述的输送模块(3)包括输送框(3-1)、上料输送机、翻板组件和带式束缚组件；输送模块(3)安装在输送框(3-1)上，且能够在动力元件的驱动下滑动；上料输送机安装在输送框(3-1)上；夹取模块(4)安装在上料输送机上，且夹持口朝向输送模块(3)向外推出的方向；1. A truck in a bagged flour silo, comprising a mobile support module (1), a load-bearing module (2), a conveying module (3) and a gripping module (4); it is characterized in that: the load-bearing module (2) ) is installed on the mobile support module (1), and can be turned over around the horizontal axis under the drive of the power element; the conveying module (3) includes a conveying frame (3-1), a feeding conveyor, a flap assembly and Belt restraint assembly; the conveying module (3) is installed on the conveying frame (3-1), and can slide under the driving of the power element; the feeding conveyor is installed on the conveying frame (3-1); the clamping module ( 4) It is installed on the feeding conveyor, and the clamping port faces the direction that the conveying module (3) is pushed out; 所述的翻板组件安装在上料输送机的能够向外推出的端部；翻板组件包括合页舵机(3-9)和两用挡板(3-10)；两用挡板(3-10)与上料输送机的端部铰接，能够在合页舵机(3-9)的驱动下翻转；两用挡板(3-10)具有一块或并排设置的多块；两用挡板(3-10)具有两个工作姿态，分别为铲板工作姿态和挡板工作姿态；铲板工作姿态下，两用挡板(3-10)的顶面与上料输送机的输送面平齐；挡板工作姿态下，两用挡板(3-10)高于上料输送机的输送面，能够阻挡上料输送机上的货物下滑；The flap assembly is installed on the end of the feeding conveyor that can be pushed out; the flap assembly includes a hinge servo (3-9) and a dual-purpose baffle (3-10); the dual-purpose baffle ( 3-10) It is hinged with the end of the feeding conveyor, and can be turned over under the drive of the hinge servo (3-9); the dual-purpose baffle (3-10) has one piece or multiple pieces arranged side by side; dual-purpose The baffle plate (3-10) has two working postures, namely the working posture of the shovel plate and the working posture of the baffle plate; in the working posture of the shovel plate, the top surface of the dual-purpose baffle plate (3-10) is conveyed by the feeding conveyor The surface is flush; in the working position of the baffle, the dual-purpose baffle (3-10) is higher than the conveying surface of the feeding conveyor, which can prevent the goods on the feeding conveyor from sliding down; 一个或多个带式束缚组件安装在上料输送机上；带式束缚组件包括定位皮带(3-13)和皮带电机(3-14)；定位皮带(3-13)的一端与输送框(3-1)的一侧固定；定位皮带(3-13)从上料输送机的输送面上方绕过，另一端连接至输送框(3-1)的另一侧；定位皮带(3-13)在皮带电机(3-14)的驱动下收紧或放松。One or more belt restraint assemblies are installed on the feeding conveyor; the belt restraint assemblies include a positioning belt (3-13) and a belt motor (3-14); one end of the positioning belt (3-13) is connected to the conveying frame (3). One side of -1) is fixed; the positioning belt (3-13) is bypassed above the conveying surface of the feeding conveyor, and the other end is connected to the other side of the conveying frame (3-1); the positioning belt (3-13) Tighten or loosen with the drive of the belt motor (3-14). 2.根据权利要求1所述的一种袋装面粉仓内搬运车，其特征在于：所述移动支撑模块(1)包括移动座(1-1)、驱动轮(1-3)和万向轮(1-4)；移动座的两端均设置有两个延伸臂(1-5)；四根延伸臂(1-5)的底端均安装有万向轮(1-4)；两个驱动轮(1-3)分别安装在移动座(1-1)两侧，并由两个电机分别驱动；移动座(1-1)的前端安装有循迹摄像头(1-6)。2. An in-silo truck for bagged flour according to claim 1, characterized in that: the moving support module (1) comprises a moving seat (1-1), a driving wheel (1-3) and a universal Wheels (1-4); two extension arms (1-5) are provided at both ends of the movable base; universal wheels (1-4) are installed at the bottom ends of the four extension arms (1-5); The driving wheels (1-3) are respectively installed on both sides of the moving base (1-1) and are driven by two motors respectively; a tracking camera (1-6) is installed on the front end of the moving base (1-1). 3.根据权利要求1所述的一种袋装面粉仓内搬运车，其特征在于：移动支撑模块(1)与承重模块(2)之间设置有液压缸(1-2)；液压缸(1-2)的缸体、活塞杆与移动支撑模块(1)、承重模块(2)分别铰接。3. A kind of truck in a bagged flour silo according to claim 1, characterized in that: a hydraulic cylinder (1-2) is arranged between the mobile support module (1) and the load-bearing module (2); the hydraulic cylinder ( 1-2) The cylinder body and the piston rod are respectively hinged with the moving support module (1) and the load-bearing module (2). 4.根据权利要求1所述的一种袋装面粉仓内搬运车，其特征在于：所述的承重模块(2)与输送模块(3)之间设置有滑移驱动组件；滑移驱动组件包括丝杠电机(2-1)和滚珠丝杠(2-6)；丝杠电机(2-2)安装在承重模块(2)上；由丝杠电机(2-2)驱动的滚珠丝杠(2-6)支承在承重模块(2)上；输送框(3-1)的底部固定有丝杠滑块(3-15)；丝杠滑块(3-15)与滚珠丝杠(2-6)构成螺旋副。4. An in-silo truck for bagged flour according to claim 1, characterized in that: a sliding drive assembly is arranged between the load-bearing module (2) and the conveying module (3); the sliding drive assembly Including the screw motor (2-1) and the ball screw (2-6); the screw motor (2-2) is mounted on the load-bearing module (2); the ball screw driven by the screw motor (2-2) (2-6) is supported on the load-bearing module (2); the bottom of the conveying frame (3-1) is fixed with a lead screw slider (3-15); the lead screw slider (3-15) and the ball screw (2) -6) Constitute a helical pair. 5.根据权利要求1所述的一种袋装面粉仓内搬运车，其特征在于：所述承重模块(2)的端部设置有回止接近开关(2-4)；回止接近开关(2-4)用于对输送模块(3)进行限位。5. An in-silo truck for bagged flour according to claim 1, characterized in that: the end of the load-bearing module (2) is provided with a backstop proximity switch (2-4); the backstop proximity switch ( 2-4) is used to limit the conveying module (3). 6.根据权利要求1所述的一种袋装面粉仓内搬运车，其特征在于：所述的输送框(3-1)上设置有内轨道滑块(3-7)和伸出式轨道滑块(3-8)；内轨道滑块(3-7)共有四个，分别安装在输送框(3-1)底面中部的两侧及后端的两侧；伸出式轨道滑块(3-8)共有两个，分别安装在输送框(3-1)底面前端的两侧；内轨道滑块(3-7)上设置有呈矩形排列的四个第一滚子(3-7-1)，其两两一组分布在承重模块(2)边缘处的两侧，抱住承重模块(2)；伸出式轨道滑块(3-8)上设置有并排的两个第二滚子(3-8-1)；两个第二滚子(3-8-1)位于承重模块(2)边缘处的同一侧。6. The bagged flour silo interior truck according to claim 1, characterized in that: the conveying frame (3-1) is provided with an inner rail slider (3-7) and an extended rail slider block (3-8); there are four inner rail sliders (3-7), which are installed on both sides of the middle of the bottom surface of the conveying frame (3-1) and both sides of the rear end; the extended rail sliders (3- 8) There are two in total, which are respectively installed on both sides of the front end of the bottom surface of the conveying frame (3-1); the inner rail slider (3-7) is provided with four first rollers (3-7-1) arranged in a rectangular arrangement ), which are distributed in pairs on both sides of the edge of the load-bearing module (2), hugging the load-bearing module (2); two second rollers side by side are arranged on the protruding track slider (3-8). (3-8-1); The two second rollers (3-8-1) are located on the same side at the edge of the load-bearing module (2). 7.根据权利要求1所述的一种袋装面粉仓内搬运车，其特征在于：所述的皮带电机(3-14)安装在输送框(3-1)的侧部；定位皮带(3-13)的非固定端缠绕在皮带电机(3-14)输出轴的绕带轮上。7. An in-silo truck for bagged flour according to claim 1, characterized in that: the belt motor (3-14) is installed on the side of the conveying frame (3-1); the positioning belt (3) The non-fixed end of -13) is wound on the pulley of the output shaft of the belt motor (3-14). 8.根据权利要求1所述的一种袋装面粉仓内搬运车，其特征在于：所述的输送模块(3)还包括电机安装板(3-2)和定位摄像头(3-3)；电机安装板(3-2)固定在输送框(3-1)顶面的远离翻板组件的端部；定位摄像头(3-3)固定在电机安装板(3-2)正面的中部；上料输送机包括传送带驱动电机(3-4)、第二带传动组件(3-5)、滚子固定板(3-6)、传送带滚子(3-11)和传送带(3-17)；两块滚子固定板(3-6)分别安装在输送框(3-1)顶面的两侧；两块滚子固定板(3-6)之间支承有依次间隔排列的多根传送带滚子(3-11)；各传送带滚子(3-11)通过传送带(3-17)连接；两个传送带驱动电机(3-4)对中安装在电机安装板(3-2)的两端；两个传送带驱动电机(3-4)的输出轴与其中一根传送带滚子(3-11)的两端分别通过第二带传动组件(3-5)连接，实现动力传递。8. An in-silo truck for bagged flour according to claim 1, characterized in that: the conveying module (3) further comprises a motor mounting plate (3-2) and a positioning camera (3-3); The motor mounting plate (3-2) is fixed on the end of the top surface of the conveying frame (3-1) away from the flap assembly; the positioning camera (3-3) is fixed on the middle of the front of the motor mounting plate (3-2); the upper The material conveyor includes a conveyor belt drive motor (3-4), a second belt drive assembly (3-5), a roller fixing plate (3-6), a conveyor belt roller (3-11) and a conveyor belt (3-17); Two roller fixing plates (3-6) are respectively installed on both sides of the top surface of the conveying frame (3-1); between the two roller fixing plates (3-6), a plurality of conveyor belt rollers arranged at intervals are supported. Each conveyor belt roller (3-11) is connected by the conveyor belt (3-17); the two conveyor belt drive motors (3-4) are centrally installed on both ends of the motor mounting plate (3-2) ; The output shafts of the two conveyor belt drive motors (3-4) are connected with two ends of one of the conveyor belt rollers (3-11) respectively through the second belt drive assembly (3-5) to realize power transmission. 9.根据权利要求1所述的一种袋装面粉仓内搬运车，其特征在于：所述夹取模块(4)包括调整臂(4-1)、安装块(4-2)、保护块(4-3)、齿轮驱动电机(4-4)、导向滑杆(4-5)和中央齿轮(4-7)；上料输送机的两侧均固定有槽口滑轨(3-12)；导向滑杆(4-5)的两端分别伸入两条槽口滑轨(3-12)上的滑槽中；安装块(4-2)固定在导向滑杆(4-5)上，并与传送带(3-17)固定；所述安装块(4-2)的正面开设有通孔(4-3-3)，设置有两根滑轨(4-3-1)；两根滑轨(4-3-1)对中设置在通孔(4-3-3)的两侧；齿轮驱动电机(4-4)安装在安装块(4-2)背面，其输出轴穿过通孔(4-3-3)与中央齿轮(4-7)固定；关于中央齿轮(4-7)轴线中心对称的两根调整臂(4-1)与两根滑轨(4-3-1)分别构成滑动副；调整臂(4-1)上设有与中央齿轮(4-7)啮合的齿条结构(4-8)；调整臂(4-1)的外端朝向上料输送机的前端；两根调整臂(4-1)的外端设置有相互正对的内凹夹持口(4-6)；内凹夹持口(4-6)的外端设置有突出夹块；突出夹块用于夹持住面粉袋开口处的绑带扎结位置；保护块(4-3)固定在安装块(4-2)的这面，且位于中央齿轮(4-7)的外侧，用于避免中央齿轮(4-7)被直接碰撞。9. An in-silo truck for bagged flour according to claim 1, characterized in that: the clamping module (4) comprises an adjustment arm (4-1), a mounting block (4-2), and a protection block (4-3), gear drive motor (4-4), guide slide bar (4-5) and central gear (4-7); both sides of the feeding conveyor are fixed with notch slide rails (3-12 ); both ends of the guide slide bar (4-5) extend into the chute on the two notch slide rails (3-12) respectively; the mounting block (4-2) is fixed on the guide slide bar (4-5) and fixed with the conveyor belt (3-17); the front side of the mounting block (4-2) is provided with a through hole (4-3-3), and two slide rails (4-3-1) are provided; The root slide rail (4-3-1) is centered on both sides of the through hole (4-3-3); the gear drive motor (4-4) is mounted on the back of the mounting block (4-2), and its output shaft passes through It is fixed with the central gear (4-7) through the through hole (4-3-3); two adjusting arms (4-1) and two sliding rails (4-3) symmetrical about the axis of the central gear (4-7) -1) Sliding pairs are respectively formed; the adjusting arm (4-1) is provided with a rack structure (4-8) meshing with the central gear (4-7); the outer end of the adjusting arm (4-1) faces the feeding The front end of the conveyor; the outer ends of the two adjusting arms (4-1) are provided with mutually facing inner concave clamping openings (4-6); the outer ends of the inner concave clamping openings (4-6) are provided with protruding Clamping block; the protruding clamping block is used to hold the binding position of the strap at the opening of the flour bag; the protection block (4-3) is fixed on the side of the mounting block (4-2) and is located on the central gear (4-7) ) to avoid direct collision of the central gear (4-7). 10.如权利要求1所述的一种袋装面粉仓内搬运车的工作方法，其特征在于：步骤一、当收到搬运指令时，搬运车移动到目标面粉袋处，且朝向目标面粉袋的开口绑带；在距离目标面粉袋预设距离时，合页舵机驱动两用挡板张开；承重模块倾斜翻转至预设角度；输送模块(3)相对于承重模块(2)向外推出；10. The working method of a truck in a bagged flour silo according to claim 1, wherein in step 1, when receiving a transport instruction, the truck moves to the target flour bag and faces the target flour bag When it is at a preset distance from the target flour bag, the hinge servo drives the dual-purpose baffle to open; the load-bearing module is tilted and flipped to a preset angle; the conveying module (3) is outward relative to the load-bearing module (2) roll out; 步骤二、夹取模块受到上料输送机的驱动，向下移动；搬运车向目标面粉袋移动，使得夹取模块移动到能够夹住目标面粉袋的开口绑带的位置；Step 2, the gripping module is driven by the feeding conveyor and moves downward; the truck moves towards the target flour bag, so that the gripping module moves to a position where the opening strap of the target flour bag can be clamped; 步骤三、夹取模块夹住目标面粉袋后，搬运车向前移动，两用挡板将目标面粉袋铲起；同时，上料输送机带动目标面粉袋倾斜向上输送；搬运车的行进速度V机＝V带cosθ；其中，θ为上料输送机的倾斜角度；V带为上料输送机的输送速度；Step 3: After the clamping module clamps the target flour bag, the truck moves forward, and the dual-purpose baffle scoops up the target flour bag; at the same time, the feeding conveyor drives the target flour bag to be transported upwards obliquely; the travelling speed of the truck is V Machine = V -belt cosθ; where, θ is the inclination angle of the feeding conveyor; V -belt is the conveying speed of the feeding conveyor; 步骤四、当目标面粉袋完全脱离地面后，上料输送机停止输送，带式束缚组件的定位皮带(3-13)在皮带电机(3-14)的驱动下收紧；承重模块恢复到水平状态；输送模块(3)相对于承重模块(2)向内复位；合页舵机驱动两用挡板回复到挡板工作姿态；Step 4. When the target flour bag is completely off the ground, the feeding conveyor stops conveying, and the positioning belt (3-13) of the belt restraint assembly is tightened under the drive of the belt motor (3-14); the load-bearing module returns to the level state; the conveying module (3) is reset inward relative to the load-bearing module (2); the hinge servo drives the dual-purpose baffle to return to the working attitude of the baffle; 步骤五、搬运车携带目标面粉袋行驶到目标终点位置后，自动卸下目标面粉袋。Step 5. After the truck carries the target flour bag to the target end position, it automatically unloads the target flour bag.
CN202111182465.XA 2021-10-11 2021-10-11 A bagged flour storage truck and its working method Expired - Fee Related CN114013892B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111182465.XA CN114013892B (en) 2021-10-11 2021-10-11 A bagged flour storage truck and its working method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111182465.XA CN114013892B (en) 2021-10-11 2021-10-11 A bagged flour storage truck and its working method

Publications (2)

Publication Number Publication Date
CN114013892A true CN114013892A (en) 2022-02-08
CN114013892B CN114013892B (en) 2023-03-07

Family

ID=80055891

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111182465.XA Expired - Fee Related CN114013892B (en) 2021-10-11 2021-10-11 A bagged flour storage truck and its working method

Country Status (1)

Country Link
CN (1) CN114013892B (en)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050076971A1 (en) * 2003-08-19 2005-04-14 Joe Summerville Mobile bag filling system
CN205149929U (en) * 2015-11-27 2016-04-13 刘子裕 Flour shipment dolly
CN205675311U (en) * 2016-06-06 2016-11-09 浙江理工大学 Courier bag mechanical type grips tapping machine
CN106185730A (en) * 2016-07-20 2016-12-07 东南大学 A kind of floor truck of all-around mobile
CN205802181U (en) * 2016-06-23 2016-12-14 温州晨光集团有限公司 A kind of flour bag conveyer device
CN110697433A (en) * 2019-10-21 2020-01-17 杭州师范大学钱江学院 Logistics pallet truck with multiple clamping surfaces and carrying and stacking method thereof
CN112061659A (en) * 2020-09-28 2020-12-11 安徽佳洁面业股份有限公司 A delivery equipment for warehouse in flour mill
CN112173633A (en) * 2020-11-15 2021-01-05 多连顺(广州)物流科技有限公司 Belt conveying system capable of being spliced and steered
CN114715664A (en) * 2022-04-15 2022-07-08 淮北市鲁南面粉(集团)有限公司 A kind of transfer stacking equipment for bagged flour production and using method thereof

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050076971A1 (en) * 2003-08-19 2005-04-14 Joe Summerville Mobile bag filling system
CN205149929U (en) * 2015-11-27 2016-04-13 刘子裕 Flour shipment dolly
CN205675311U (en) * 2016-06-06 2016-11-09 浙江理工大学 Courier bag mechanical type grips tapping machine
CN205802181U (en) * 2016-06-23 2016-12-14 温州晨光集团有限公司 A kind of flour bag conveyer device
CN106185730A (en) * 2016-07-20 2016-12-07 东南大学 A kind of floor truck of all-around mobile
CN110697433A (en) * 2019-10-21 2020-01-17 杭州师范大学钱江学院 Logistics pallet truck with multiple clamping surfaces and carrying and stacking method thereof
CN112061659A (en) * 2020-09-28 2020-12-11 安徽佳洁面业股份有限公司 A delivery equipment for warehouse in flour mill
CN112173633A (en) * 2020-11-15 2021-01-05 多连顺(广州)物流科技有限公司 Belt conveying system capable of being spliced and steered
CN114715664A (en) * 2022-04-15 2022-07-08 淮北市鲁南面粉(集团)有限公司 A kind of transfer stacking equipment for bagged flour production and using method thereof

Also Published As

Publication number Publication date
CN114013892B (en) 2023-03-07

Similar Documents

Publication Publication Date Title
EP4219360A1 (en) Logistics stacking system
CA2761938C (en) Conveyor apparatus
US7077615B2 (en) Apparatus for loading and unloading a cargo compartment of an aircraft
EP1879822B1 (en) System for unloading or loading of cargo
CN111620145B (en) A fully automatic loading machine
CN210709371U (en) Conveyer and freight car
CN112474371A (en) Turning plate sorting machine, turning plate sorting system, sorting method of turning plate sorting machine and supporting guide rail
CN114803568B (en) Automatic unloading device for transport semitrailer
CN112830224B (en) Automatic loading device
CN115463843A (en) Lifting downward-turning type sorting trolley and in-bin turning tray sorting machine
CN114013892A (en) A kind of bagged flour silo truck and its working method
CN110683380A (en) Automatic loading system and loading method thereof
CN211003656U (en) Automatic loading system
CN113800251A (en) Clamping device, mechanical arm and automatic loading equipment
CN220200763U (en) Omnidirectional self-guiding crawler walking type intelligent loading and unloading machine
CN114803558B (en) A loading machine
CN219807322U (en) Luggage transfer equipment
CN116853850A (en) Automatic loading device for box-type materials
CN213386739U (en) Logistics stacking system
CN214289413U (en) Convertible letter sorting car, convertible sorting device and convertible letter sorting system
CN214610155U (en) Automatic loading device
CN214610158U (en) Automatic loading system
CN112141728B (en) Stacker crane
CN112474372B (en) Turnover type sorting vehicle, turnover type sorting device, turnover type sorting system and turnover type sorting method
CN112830225B (en) An automatic loading system

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
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20230307