CN114013892A - Carrier in bagged flour bin and working method thereof - Google Patents
Carrier in bagged flour bin and working method thereof Download PDFInfo
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- 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
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- module
- belt
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- feeding conveyor
- conveyor
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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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
- 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
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- Mechanical Engineering (AREA)
- Attitude Control For Articles On Conveyors (AREA)
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Abstract
The invention discloses a carrier in a bagged flour bin and a working method thereof. The carrier comprises a movable support 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 component comprises a hinge steering engine and a dual-purpose baffle. One or more belt restraint assemblies are mounted on the infeed conveyor. 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.
Description
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. A carrier in a bagged flour bin comprises a movable support module (1), a bearing module (2), a conveying module (3) and a clamping module (4); the method is characterized in that: the bearing module (2) is arranged on the movable support module (1) and can turn around a horizontal axis under the driving of a power element; the conveying module (3) comprises a conveying frame (3-1), a feeding conveyor, a turning plate assembly and a belt type binding assembly; the conveying module (3) is arranged on the conveying frame (3-1) and can slide under the driving of a power element; the feeding conveyor is arranged on the conveying frame (3-1); the clamping module (4) is arranged on the feeding conveyor, and the clamping opening faces the direction in which the conveying module (3) is pushed out;
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 (3-9) and a dual-purpose baffle plate (3-10); the dual-purpose baffle (3-10) is hinged with the end part of the feeding conveyor and can be turned over under the driving of the hinge steering engine (3-9); the dual-purpose baffle (3-10) is provided with one or a plurality of baffles arranged side by side; the dual-purpose baffle (3-10) has two working postures which are respectively a shovel plate working posture and a baffle plate working posture; the top surfaces of the dual-purpose baffles (3-10) are flush with the conveying surface of the feeding conveyor under the working posture of the shovel plate; under the working posture of the baffle, the dual-purpose baffle (3-10) 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 mounted on the infeed conveyor; the belt type binding assembly comprises 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 positioning belt (3-13) bypasses above 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 (3-1); the positioning belts (3-13) are tightened or loosened under the driving of the belt motors (3-14).
2. The cart for transporting bagged noodles in a storehouse according to claim 1, wherein: the movable support module (1) comprises a movable seat (1-1), a driving wheel (1-3) and a universal wheel (1-4); two extending arms (1-5) are arranged at two ends of the movable seat; universal wheels (1-4) are respectively arranged at the bottom ends of the four extension arms (1-5); the 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).
3. The cart for transporting bagged noodles in a storehouse according to claim 1, wherein: a hydraulic cylinder (1-2) is arranged between the movable support module (1) and the bearing module (2); the cylinder body and the piston rod of the hydraulic cylinder (1-2) are respectively hinged with the movable support module (1) and the bearing module (2).
4. The cart for transporting bagged noodles in a storehouse according to claim 1, wherein: a sliding driving component is arranged between the bearing module (2) and the conveying module (3); the sliding driving assembly comprises a screw motor (2-1) and a ball screw (2-6); the screw motor (2-2) is arranged on the bearing module (2); a ball screw (2-6) driven by a screw motor (2-2) is supported on the bearing module (2); a screw rod sliding block (3-15) is fixed at the bottom of the conveying frame (3-1); the screw rod sliding blocks (3-15) and the ball screw rods (2-6) form a screw pair.
5. The cart for transporting bagged noodles in a storehouse according to claim 1, wherein: the end part of the bearing module (2) is provided with a check proximity switch (2-4); the return proximity switches (2-4) are used for limiting the conveying module (3).
6. The cart for transporting bagged noodles in a storehouse according to claim 1, wherein: the conveying frame (3-1) is provided with an inner track sliding block (3-7) and an extension type track sliding block (3-8); 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 two extending-out type track sliding blocks (3-8) are respectively arranged at the 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 of the bearing module (2) in a group of two rollers to hold the bearing module (2); 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 located on the same side at the edge of the load-bearing module (2).
7. The cart for transporting bagged noodles in a storehouse according to claim 1, wherein: the belt motor (3-14) is arranged on the side part of the conveying frame (3-1); the non-fixed end of the positioning belt (3-13) is wound on a winding wheel of an output shaft of the belt motor (3-14).
8. The cart for transporting bagged noodles in a storehouse according to claim 1, wherein: 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 at the end part of the top surface of the conveying frame (3-1) far away from the turning plate assembly; the positioning camera (3-3) is fixed in the middle of the front side of the motor mounting plate (3-2); the feeding conveyor comprises a conveyor belt driving motor (3-4), a second belt transmission assembly (3-5), a roller fixing plate (3-6), conveyor belt rollers (3-11) and a conveyor belt (3-17); the 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 sequentially arranged at intervals are supported between the two roller fixing plates (3-6); the conveyor belt rollers (3-11) are connected through 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 second belt transmission components (3-5) to realize power transmission.
9. The cart for transporting bagged noodles in a storehouse according to claim 1, wherein: the clamping module (4) comprises an adjusting arm (4-1), a mounting block (4-2), a protection block (4-3), a gear driving motor (4-4), a guide sliding rod (4-5) and a central gear (4-7); two sides of the feeding conveyor are both fixed with notch slide rails (3-12); two ends of the guide sliding rod (4-5) respectively extend into the sliding chutes 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 two sliding rails (4-3-1); the two sliding rails (4-3-1) are arranged on two sides of the through hole (4-3-3) in a centering way; 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 centrosymmetric about the axis of the central gear (4-7) and two sliding rails (4-3-1) respectively form a sliding pair; a rack structure (4-8) meshed with the central gear (4-7) is arranged on the adjusting arm (4-1); 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 mutually opposite concave clamping openings (4-6); the outer ends of the concave clamping openings (4-6) are provided with protruding clamping blocks; the protruding clamping block is 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 surface of the mounting block (4-2) and is positioned at the outer side of the central gear (4-7) for avoiding the central gear (4-7) from being directly collided.
10. The method of claim 1, further comprising the step of: step one, when a carrying instruction is received, the carrying vehicle moves to a target flour bag and faces an opening binding band 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 conveying module (3) is pushed outwards relative to the bearing module (2);
the clamping module is driven by the feeding conveyor to move downwards; the carrier moves towards the target flour bag, so that the clamping module moves to a position capable of clamping an opening bandage of the target flour bag;
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;
step four, after the target flour bag is completely separated from the ground, the feeding conveyor stops conveying, and the positioning belts (3-13) of the belt type binding assembly are tightened under the driving of belt motors (3-14); the load-bearing module is restored to the horizontal state; the conveying module (3) is reset inwards relative to the bearing module (2); the hinge steering engine drives the dual-purpose baffle to return to the working posture of the baffle;
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.
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| CN202111182465.XA CN114013892B (en) | 2021-10-11 | 2021-10-11 | Carrier in bagged flour bin and working method thereof |
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| CN202111182465.XA CN114013892B (en) | 2021-10-11 | 2021-10-11 | Carrier in bagged flour bin and working method thereof |
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| CN114013892B CN114013892B (en) | 2023-03-07 |
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|---|---|
| CN114013892B (en) | 2023-03-07 |
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