CN112551073A

CN112551073A - Skip moves and carries mechanism, automatic traditional thread binding putting in and out of skip

Info

Publication number: CN112551073A
Application number: CN202011423643.9A
Authority: CN
Inventors: 罗维; 李庆喜; 张卫国; 袁昊博; 黄斌; 王庆斌
Original assignee: GAC Motor Co Ltd
Current assignee: GAC Motor Co Ltd
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2021-03-26

Abstract

The invention relates to the technical field of automatic feeding and discharging of a skip car, in particular to a skip car transfer mechanism and an automatic feeding and discharging device of the skip car. The invention aims to overcome the defect that a skip car can only go up and down a conveying line in a short distance in the prior art, and provides a skip car transfer mechanism capable of realizing long-distance going up and down of the conveying line.

Description

Skip moves and carries mechanism, automatic traditional thread binding putting in and out of skip

Technical Field

The invention relates to the technical field of automatic feeding and discharging of a skip car, in particular to a skip car transfer mechanism and an automatic feeding and discharging device of the skip car.

Background

At present, most automobile factories all realize part SPS letter sorting delivery, and every transfer chain is equipped with a skip promptly, and the skip that carries on the part distributes to the transfer chain by tractor or AGV dolly, and the rethread hand or mechanism push away the skip to the transfer chain on. At present, the domestic application scheme is as follows: scheme-1: the manual driving tractor distributes the skip to the conveying line side, and the skip is pushed to the conveying line by the hands of the person, but the automatic up-and-down line of the skip cannot be realized, and the all-round conveying line can not be carried in. Scheme-2: adopt the AGV dolly automatic with the skip distribute to the transfer chain by side, rethread ground jacking moves and carries the mechanism and move the skip into the transfer chain, but can not realize all-round moving the transfer chain into, the skip is placed the precision and is hanged down.

Chinese patent publication No. CN110606450 discloses a rotary lifting system and a transport system, which can realize the lifting of a skip in the height direction and the rotation adjustment direction of the skip, but can only adapt to the short-distance loading and unloading of the skip and a transport line, and cannot realize the loading of the skip and the transport line at a distance greater than 2 m.

Disclosure of Invention

The invention aims to overcome the defect that a skip car can only go up and down a conveying line in a short distance in the prior art, and provides a skip car transfer mechanism capable of realizing long-distance going up and down of the conveying line.

In order to solve the technical problems, the invention adopts the technical scheme that:

the utility model provides a skip moves and carries mechanism, including can drive the skip and realize that Y is to, Z is to removing and move unit, support frame, X to the guide rail around the skip of self rotation, the support frame is established X is to guide rail bottom, the skip move carry the unit with X is to guide rail swing joint, the skip moves and carries the unit and can follow X to round trip movement.

The X-direction guide rail is used as a bridge for connecting the skip between the material preparation area and the conveying line, and the skip transfer unit is used for transferring the skip from one end of the material preparation area to the conveying line through the X-direction guide rail or transferring the skip from one end of the conveying line to the material preparation area through the X-direction guide rail, so that the skip is remotely moved up and down to the conveying line. The skip car transfer unit can simultaneously realize Y-direction and Z-direction movement and self-rotation, so that the skip car can realize X-direction, Y-direction and Z-direction back-and-forth movement and self-rotation under the action of the X-direction guide rail and the skip car transfer unit, thereby realizing the movement of the skip car in all directions of a three-dimensional space and meeting the requirements of the skip car on going on and off the production line at all positions.

Preferably, the skip moves and carries unit includes clamping device, can drive clamping device is in X is to the moving mechanism of X direction round trip movement on the guide rail, clamping device with the moving mechanism is connected, moving mechanism includes can carry out linear motion and two liang of mutually perpendicular X to running gear, Y to running gear, Z to elevating system, still including setting up on clamping device and can drive clamping device rotary motion's R axle rotary mechanism.

Preferably, the X-direction running mechanism comprises a Y-direction guide rail, an X-direction power device and X-direction fixing plates respectively arranged at two ends of the Y-direction guide rail; the X is to two and the symmetry setting of guide rail, X to the fixed plate with X to the guide rail Y to the equal swing joint of guide rail, X to the fixed plate with X is to power device connection, X can drive to the fixed plate clamping device is at X to round trip movement.

Preferably, the Y-direction running mechanism comprises a Y-direction fixing plate and a Y-direction power device, the Y-direction fixing plate is movably connected with the Y-direction guide rail and connected with the Y-direction power device, and the Y-direction fixing plate can drive the clamping device to move back and forth in the Y direction.

Preferably, the Z-direction lifting mechanism comprises a Z-direction guide rail and a Z-direction power device, the Z-direction guide rail is movably connected with the Y-direction fixing plate and is connected with the Z-direction power device, and the clamping device is connected with the end part of the Z-direction guide rail; the gripping device is movable back and forth in the Z-direction.

Preferably, the Z-direction lifting mechanism comprises a Z-direction guide rail, a Z-direction fixing plate and a Z-direction power device, the Z-direction guide rail is of a fixed structure, the Z-direction fixing plate is movably connected with the Z-direction guide rail and connected with the Z-direction power device, the clamping device is connected with the Y-direction fixing plate, the Z-direction fixing plate is connected with the X-direction guide rail, and the X-direction guide rail can move back and forth in the Z direction under the driving of the Z-direction power device.

Preferably, the X-direction power device, the Y-direction power device and the Z-direction power device each include a motor and a rack-and-pinion transmission device, the racks are respectively disposed on the corresponding guide rails, the gears are connected with the motors, and the gears move on the racks under the driving of the motors.

Preferably, R axle rotary mechanism includes toothed disc, output gear, limit gear, motor, the toothed disc with the motor is connected, output gear one side with the toothed disc meshing, the opposite side with limit gear meshing.

Preferably, the clamping device comprises a baffle, fork arms symmetrically arranged at two ends of the baffle, and a cylinder for driving the fork arms to clamp or release, and the fork arms are connected with the cylinder.

The invention also provides an automatic material trolley wire loading and unloading device which comprises the material trolley transferring mechanism, two material trolley limiting devices, a conveying line sliding plate, a material trolley and a control mechanism, wherein the two material trolley limiting devices are respectively arranged at two ends of the material trolley transferring mechanism, the conveying line sliding plate is arranged at one end of the material trolley transferring mechanism and is positioned outside the material trolley limiting devices, the control mechanism is electrically connected with the material trolley transferring mechanism, and the control mechanism can be started to transfer the material trolley to the conveying line sliding plate or transfer the material trolley out of the conveying line sliding plate through the material trolley transferring mechanism after the material trolley runs to the material trolley limiting devices.

Compared with the prior art, the invention has the beneficial effects that:

(1) the long-distance automatic loading and unloading of the skip when the distance between the skip and the conveying line exceeds two meters can be realized;

(2) the skip moves and carries mechanism can realize that the skip is in the sky diversified rectilinear motion and rotary motion including X, Y, Z direction, realizes that the skip goes up and down the production line with the transfer chain co-altitude, also can realize going up and down the production line when skip and transfer chain non-parallel, can also realize that the skip goes up and down the production line in the arbitrary one side of transfer chain, has brought the convenience for the planning design of transfer chain and logistics distribution system.

(3) Adopt clamping device to press from both sides tight location to the skip at the removal in-process, prevent that the skip from shifting in the motion process and even dropping, realize the high-accuracy online and offline of skip.

Drawings

Fig. 1 is a schematic structural view of a material vehicle transfer mechanism in an embodiment 1 of the present invention;

FIG. 2 is a schematic structural view of a transfer unit of the material cart in FIG. 1;

FIG. 3 is a schematic view of the internal structure of the R-axis rotating mechanism shown in FIG. 1;

fig. 4 is a schematic structural view of a material vehicle transfer mechanism in embodiment 2 of the present invention;

FIG. 5 is a schematic structural view of an automatic thread loading and unloading device of a skip car according to the present invention;

the graphic symbols are illustrated as follows:

1. a skip transfer unit; 11. a motion mechanism; 12. a clamping device; 121. a baffle plate; 122. a yoke; 123. a cylinder; 13. an X-direction walking mechanism; 131. a Y-direction guide rail; 132. an X-direction fixing plate; 133. an X-direction power device; 14. a Y-direction walking mechanism; 141. a Y-direction fixing plate; 142. a Y-direction power device; 15. a Z-direction lifting mechanism; 151. a Z-direction guide rail; 152. a Z-direction power device; 153. a Z-direction fixing plate; 16. an R-axis rotating mechanism; 161. a gear plate; 162. an output gear; 163. a limit gear; 2. a support frame; 3. an X-direction guide rail; 101. a skip transfer mechanism; 102. a skip limiting device; 103. a conveyor line slide plate; 104. a skip car; 105. and a control mechanism.

Detailed Description

The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.

Example 1

As shown in fig. 1 to 3 and 5, a first embodiment of a skip transfer mechanism of the present invention includes a skip transfer unit 1, a support frame 2, and an X-direction guide rail 3, wherein the skip transfer unit 1 can drive a skip 104 to move in Y-direction and Z-direction and rotate around itself, the support frame 2 is disposed at the bottom of the X-direction guide rail 3, the skip transfer unit 1 is movably connected with the X-direction guide rail 3, and the skip transfer unit 1 can move back and forth in X-direction.

The support frame 2 is used as a support for the X-direction guide rail 3, so that the X-direction guide rail 3 is higher than the ground by a distance, and the skip car 104 can move and rotate in all directions conveniently, wherein the support frame 2 can be a column type, is supported by the ground, can also be a suspension type, and is supported by an aerial hanging beam, so that the X-direction guide rail 3 is higher than the ground by a distance. The skip car transfer unit 1 can move back and forth on the X-direction guide rail 3 to move back and forth along the X direction.

As an embodiment of the present invention, the skip car transfer unit 1 includes a clamping device 12, a moving mechanism 11 capable of driving the clamping device 12 to move back and forth along the X direction on the X-direction guide rail 3, the clamping device 12 is connected with the moving mechanism 11, the moving mechanism 11 includes an X-direction traveling mechanism 13, a Y-direction traveling mechanism 14, a Z-direction lifting mechanism 15 which are capable of performing linear motion and perpendicular to each other, and further includes an R-axis rotating mechanism 16 which is disposed on the clamping device 12 and can drive the clamping device 12 to rotate. The clamping device 12 is used for clamping the skip car 104, and the skip car 104 can move in the X direction, the Y direction and the Z direction and rotate around the R axis along with the clamping device 12. The problem that the skip car 104 can only adapt to the fact that the skip car 104 can only move up and down in the direction parallel to the conveying line and the conveying line cannot be achieved in the prior art due to the fact that the skip car 104 is driven to rotate by the R-axis rotating mechanism 16, the problem that the skip car 104 and the conveying line can only move up and down in a close range due to the fact that the conveying line and the skip car 104 can only move in the non-parallel direction is solved due to the fact that the skip car 104 can only adapt to the fact that the height of the conveying line is consistent with the height of the ground, the problem that the working condition that the conveying line is higher than the ground cannot be achieved due to the fact that the skip car 104 can be clamped in the moving process of.

As an embodiment of the present invention, the X-direction traveling mechanism 13 includes a Y-direction rail 131, an X-direction power unit 133, and X-direction fixing plates 132 provided at both ends of the Y-direction rail 131; the two X-direction guide rails 3 are symmetrically arranged, the X-direction fixing plate 132 is movably connected with the X-direction guide rails 3 and the Y-direction guide rails 131, the X-direction fixing plate 132 is connected with the X-direction power device 133, and the X-direction fixing plate 132 can drive the clamping device 12 to move back and forth in the X direction. The clamping device 12 is connected with the moving mechanism 11, and the moving mechanism 11 includes the X-direction traveling mechanism 13, so that the clamping device 12 is indirectly connected with the X-direction traveling mechanism 13, and therefore, the X-direction fixing plate 132 can drive the Y-direction guide rail 131 to move in the X-direction under the driving of the X-direction power device 133, thereby realizing the back-and-forth movement of the clamping device 12 in the X-direction. The Y-guide rail 131 and the clamp 12 are integrally moved back and forth in the X-guide rail 3 following the X-fixing plate 132.

In an embodiment of the present invention, the Y-directional traveling mechanism 14 includes a Y-directional fixing plate 141 and a Y-directional power device 142, the Y-directional fixing plate 141 is movably connected to the Y-directional guide rail 131 and connected to the Y-directional power device 142, and the Y-directional fixing plate 141 can move on the Y-directional guide rail 131 by the driving of the Y-directional power device 142, thereby driving the clamping device 12 to move back and forth in the Y direction.

As an embodiment of the present invention, the Z-direction lifting mechanism 15 includes a Z-direction guide rail 151, a Z-direction power device 152, the Z-direction guide rail 151 and the Y-direction fixing plate 141 are movably connected and connected with the Z-direction power device 152, and the clamping device 12 is connected with the end of the Z-direction guide rail 151; the clamping device 12 can move up and down relative to the Y-direction fixing plate 141 under the driving of the Z-direction power device 152, so as to drive the clamping device 12 to move back and forth in the Z direction. Specifically, the clamping device 12 may be disposed at the bottom of the Z-direction rail 151, the Z-direction rail 151 is connected to the Y-direction fixing plate 141, and the Z-direction power device 152 drives the Z-direction rail 151 to move up and down relative to the Y-direction fixing plate 141, so that the Z-direction rail 151 drives the skip car 104 to move up and down. When the Y-direction movement is performed, the Y-direction fixing plate 141 drives the Z-direction guide rail 151 to thereby drive the entire skip 104 to perform the Y-direction movement. When the X-direction movement is performed, the Y-direction guide rail 131 is driven by the X-direction fixing plate 132, and the Y-direction fixing plate 141 and the Z-direction guide rail 151 located on the Y-direction guide rail 131 move together, so that the skip car 104 also moves in the X-direction.

As an embodiment of the present invention, each of the X-direction power device 133, the Y-direction power device 142, and the Z-direction power device 152 includes a motor and a rack-and-pinion transmission device, wherein racks are respectively disposed on corresponding guide rails, a gear is connected to the motor, and the gear moves on the racks under the driving of the motor. The gear rack transmission mechanism can convert the rotary motion of the motor into linear motion for output, the motor transmits power to the gear through the output shaft, and particularly, the gear and the motor shaft can be connected in one of the following modes: 1. key connections, by flat keys, wedge keys, splines, etc., are the most common way to use. 2. The expansion ring connection is formed in a national standard (GB5867-86)3 and set screw connection mode, and a conical pit or a plane needs to be drilled on a motor shaft for the connection with a small shaft diameter. 4. The hub of the gear is made into a mode of unilateral opening and bolt locking, and the popular expression is 'Harvard connection'. Of course, the conversion of the rotation of the motor into the linear motion of the skip car transplanting unit is not limited to the gear-rack transmission mechanism, and can also be transmitted and output in other modes such as worm and gear, crankshaft, eccentric wheel, cam and the like. The rack can be arranged outside the guide rail or the guide rail and is matched with the gear to drive the transfer unit to move linearly.

As one embodiment of the present invention, the R-axis rotating mechanism 16 includes a gear plate 161, an output gear 162, a limit gear 163, and a motor, the gear plate 161 is connected to the motor, one side of the output gear 162 is engaged with the gear plate 161, and the other side is engaged with the limit gear 163. The R-axis rotating mechanism 16 is disposed on the clamping device 12, and realizes the rotating motion of the clamping device 12, specifically, the gear plate 161 is driven by the motor to rotate, the output gear 162 drives the clamping device 12 to rotate, and the limit gear 163 is used for limiting the output gear 162.

The clamping device 12 comprises a baffle plate 121, fork arms 122 symmetrically arranged at two ends of the baffle plate 121, and a cylinder 123 for driving the fork arms 122 to clamp or unclamp, wherein the fork arms 122 are connected with the cylinder 123. The baffle 121 is used for being connected with the Z-axis guide rail, the R-axis rotating mechanism 16 is arranged on the baffle 121, the gear disc 161 is sleeved outside the Z-axis guide rail, and the whole clamping device 12 can rotate relative to the Z axis. The air cylinder 123 is connected with the control mechanism 105, when the skip car 104 needs to be transported, the air cylinder 123 receives a signal of the control mechanism 105 and then drives the fork arms 122 on the two sides to clamp the skip car 104, then the whole clamping mechanism is transported along with the skip car transfer unit 1, and after the specified position is reached, the air cylinder 123 receives the signal of the control mechanism 105 and then releases the fork arms 122 to enable the skip car 104 to be separated from the clamping device 12.

Specifically, 4V-shaped wheels with a radius of 45mm may be respectively disposed at 4 corners of the X-direction fixing plate 132 and the Y-direction fixing plate 141, the movable connection of the fixing plate and the guide rail is realized by respectively embedding the X-direction guide rail 3 or the Y-direction guide rail 131 into a space consisting of 4V-shaped wheels, that is, the fixing plate is disposed outside, the guide rail is embedded in the fixing plate to be matched, 4V-shaped wheels are respectively arranged on the Y-direction fixing plate 141 near the Y-direction guide rail 131 and near the Z-direction guide rail 151, so that the Y-direction fixing plate 141 can move relative to the Y-direction guide rail 131, the Z-guide rail 151 can also move relative to the Y-guide plate 141 to achieve the purpose of movable connection between the plate and the rail, and at this time, the rack can be arranged on the inner side of the guide rail, the gear is arranged on the inner side of the fixing plate, and the rack and the gear are matched to form linear motion to drive the fixing plate to move on the guide rail; so that X, Y, Z can move back and forth under the drive of the respective power devices. As another embodiment, a slide groove may be provided on one side of each of the X-guide rail 3, the Y-guide rail 131, and the Z-guide rail 151, a rack may be provided on the other side of each of the X-guide rail 3, the Y-guide rail 131, and the Z-guide rail 151, a pulley may be provided on one side of the X-fixing plate 132 and one side of the Y-fixing plate 141, and a gear may be provided on the other side, so that the X-fixing plate 132 is fitted into the X-guide rail 3, the Y-fixing plate 141 is fitted into the Y-guide rail 131 from one end of both ends, and the other end is fitted into the Z-guide rail 151, thereby forming a state in which the guide rails are on the outside and the fixing plates are on the inside, and the slide grooves in the guide rails are engaged. Preferably, each guide rail can be made of aluminum alloy, and the tail end of each guide rail can be designed with a mechanical barrier made of nylon and a sensor to prevent the travelling mechanism from sliding out of the guide rail. The Z-direction guide rail 151 can be made of a Q235-A square tube with the thickness of 4mm and the width of 120mm, the X-direction fixing plate 132 can be made of a Q235-A with the thickness of 850-430-30 mm, 1 output shaft with the shaft diameter of 20mm can be used as a connecting part of a gear and a motor in the X-direction power device 133, the R-shaft rotating mechanism 16 can be made of a gear plate 161 with the radius of 145mm, 1 output gear 162 with the radius of 60mm and 1 limiting gear 163 with the radius of 30mm, the Y-direction fixing plate 141 is shared by the Y-direction guide rail 131 and the Z-direction guide rail 151, and can be made of a Q235-A square tube with the thickness of 790-360-30 mm, 1 output shaft with the shaft diameter of 20mm can be used as a connecting part of a gear and a motor in the Z-direction power device 152, and the Y-direction guide rail 131 is made of a Q235-A square tube with the thickness of 40mm and.

The principle of the embodiment is as follows:

the clamping device 12 is arranged at the bottom of the Z-direction guide rail 151, and the R-axis rotating mechanism 16 can drive the clamping device 12 to clamp the skip car 104 to rotate relative to the Z-direction guide rail 151; the Z-direction guide rail 151 is connected to the Y-direction fixing plate 141, and the Z-direction power device 152 drives the Z-direction guide rail 151 to move up and down relative to the Y-direction fixing plate 141, so that the Z-direction guide rail 151 drives the clamping device 12 to move up and down the skip car 104. When the Y-direction movement is performed, the Y-direction fixing plate 141 drives the Z-direction guide rail 151 under the Y-direction power device 142 to drive the clamping device 12 and the skip 104 to perform the Y-direction movement integrally. When the X-direction movement is performed, the Y-direction guide rail 131 is driven by the X-direction power unit 133 by the X-direction fixing plates 132 at both ends of the Y-direction guide rail 131, and the Y-direction fixing plate 141 on the Y-direction guide rail 131, the Z-direction guide rail 151, the clamping device 12, and the skip 104 move together, and therefore, the skip 104 also moves in the X-direction.

Example 2

As shown in fig. 4, a second embodiment of a material trolley transferring mechanism of the present invention is similar to embodiment 1, except that the Z-direction lifting mechanism 15 in this embodiment includes a Z-direction guide rail 151, a Z-direction fixing plate 153, and a Z-direction power device 152, the Z-direction guide rail 151 is a fixed structure, the Z-direction fixing plate 153 is movably connected with the Z-direction guide rail 151 and connected with the Z-direction power device 152, the clamping device 12 is connected with the Y-direction fixing plate 141, the Z-direction fixing plate 153 is connected with the X-direction guide rail 3, and the X-direction guide rail 3 can move on the Z-direction guide rail 151 under the driving of the Z-direction power device 152.

In embodiment 1, the clamping device 12 is disposed at the bottom of the Z-guide rail 151 and the Y-fixing plate 141 is used for the Y-guide rail 131 and the Z-guide rail 151, while the X-guide rail 3 is fixed on the ground at a distance, in this embodiment, the clamping device 12 is connected to the Y-fixing plate 141, the R-axis rotating mechanism 16 is disposed on the clamping device 12 and can drive the clamping device 12 to rotate relative to the Y-fixing plate 141, the Z-guide rail 151 is fixed on the ground through a column or suspended in a half-empty space through a suspension beam, in this case, the Z-guide rail 151 is provided with a separate Z-fixing plate 153, the support frame 2 at the bottom of the X-guide rail 3 needs to be movably connected to the X-guide rail 3, the Z-fixing plate 153 is connected to the X-guide rail 3 and is matched with the Z-guide rail 151, the Z-fixing plate 153 can drive the X-guide rail 3 under the driving of the Z, the clamping device 12 and the skip 104 are driven to move up and down integrally in the Z-guide rail 151. The specific power mechanism in embodiment 2 may be similar to that in embodiment 1, except for a slight difference in placement location and manner.

The principle of the embodiment is as follows:

the clamping device 12 is connected with the Y-direction fixing plate 141, the Z-direction guide rail 151 is fixed on the ground, and the R-axis rotating mechanism 16 can drive the clamping device 12 to clamp the skip car 104 to rotate relative to the Y-direction fixing plate 141; when Y-direction movement is required, the Y-direction fixing plate 141 drives the clamping device 12 and the skip car 104 to perform Y-direction movement under the driving of the Y-direction power device 142; when the Y-direction movement is required, the Y-direction fixing plates 141 on the Y-direction guide rails 131 move together with the clamping device 12 and the skip car 104 by driving the Y-direction guide rails 131 by the X-direction fixing plates 132 at the two ends of the Y-direction guide rails 131 under the driving of the X-direction power device 133; when the Z-direction movement is required, the whole X-direction guide rail 3, the Y-direction guide rail 131, the clamping device 12 and the skip car 104 are driven by the Z-direction fixing plate 153 under the driving of the Z-direction power device 152 to move up and down in the Z-direction.

Example 3

Fig. 5 shows an embodiment of an automatic loading and unloading device for a skip according to the present invention, which includes a skip transfer mechanism 101, a skip limiting device 102, a conveyor line sliding plate 103, a skip 104, and a control mechanism 105 according to

embodiments

1 and 2, where two skip limiting devices 102 are respectively disposed at two ends of the skip transfer mechanism 101, the conveyor line sliding plate 103 is disposed at one end of the skip transfer mechanism 101 and located outside the skip limiting device 102, the control mechanism 105 is connected to the skip transfer mechanism 101, and after the skip 104 runs to the skip limiting device 102, the control mechanism 105 can be started to transfer to the conveyor line sliding plate 103 or out from the conveyor line sliding plate 103 through the skip transfer mechanism 101.

The limiting device of the skip in this embodiment is used for limiting the movement of the skip 104 on one hand, and preventing the skip 104 from entering other areas, so that it is inconvenient to transfer the skip 104, and on the other hand, the limiting device is used as a trigger signal of the control mechanism 105, when the skip 104 touches the skip limiting device 102, the control mechanism 105 can drive the clamping device 12 to clamp the skip 104, and start the automatic loading and unloading operation of the skip 104, the conveyor line sliding plate 103 is a designated parking position of the skip 104 on the conveyor line and is used as a starting point on the conveyor line after the skip 104 is loaded and a terminal point before the skip 104 is loaded, the skip transfer mechanism 101 is the core of the automatic loading and unloading device of the skip 104, and is an action mechanism for transferring the skip 104 from the material preparation area to the conveyor line and transferring the skip 104 from the conveyor line to the material preparation area.

Of course, for the requirement of actual production, a plurality of sets of automatic material loading and unloading devices of the material trolley can be arranged on one production line so as to facilitate the convenience of material transportation.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides a skip moves and carries mechanism, its characterized in that, including can drive the skip and realize that Y is to, Z moves and move unit (1), support frame (2), X to guide rail (3) around the skip of self rotation, establish support frame (2) X is to guide rail (3) bottom, skip move carry unit (1) with X is to guide rail (3) swing joint, the skip moves and carries unit (1) and can follow X to round trip movement.

2. The skip shifting mechanism according to claim 1, wherein the skip shifting unit (1) comprises a clamping device (12) and a moving mechanism (11) capable of driving the clamping device (12) to move back and forth on the X-direction guide rail (3) along the X-direction, the clamping device (12) is connected with the moving mechanism (11), and the skip shifting unit is characterized in that the moving mechanism (11) comprises an X-direction traveling mechanism (13), a Y-direction traveling mechanism (14) and a Z-direction lifting mechanism (15) which can perform linear motion and are perpendicular to each other in pairs, and further comprises an R-axis rotating mechanism (16) which is arranged on the clamping device (12) and can drive the clamping device (12) to rotate.

3. The skip shifting mechanism according to claim 2, wherein the X-direction traveling mechanism (13) comprises a Y-direction guide rail (131), an X-direction power device (133), and X-direction fixing plates (132) respectively disposed at two ends of the Y-direction guide rail (131); x is two and the symmetry sets up to guide rail (3), X to fixed plate (132) with X to guide rail (3) Y to the equal swing joint of guide rail (131), X to fixed plate (132) with X is connected to power device (133), X can drive to fixed plate (132) clamping device (12) is at X to round trip movement.

4. The skip shifting mechanism according to claim 3, wherein the Y-direction traveling mechanism (14) comprises a Y-direction fixing plate (141) and a Y-direction power device (142), the Y-direction fixing plate (141) is movably connected with the Y-direction guide rail (131) and connected with the Y-direction power device (142), and the Y-direction fixing plate (141) can drive the clamping device (12) to move back and forth in the Y direction.

5. The skip shifting mechanism according to claim 4, wherein the Z-direction lifting mechanism (15) comprises a Z-direction guide rail (151) and a Z-direction power device (152), the Z-direction guide rail (151) is movably connected with the Y-direction fixing plate (141) and is connected with the Z-direction power device (152), and the clamping device (12) is connected with the end of the Z-direction guide rail (151); the clamping device (12) can be moved back and forth in the Z direction.

6. The skip shifting mechanism according to claim 4, wherein the Z-direction lifting mechanism comprises a Z-direction guide rail (151), a Z-direction fixing plate (153) and a Z-direction power device (152), the Z-direction guide rail (151) is of a fixed structure, the Z-direction fixing plate (153) is movably connected with the Z-direction guide rail (151) and connected with the Z-direction power device (152), the clamping device (12) is connected with the Y-direction fixing plate (141), the Z-direction fixing plate (153) is connected with the X-direction guide rail (3), and the X-direction guide rail (3) can move back and forth in the Z direction under the driving of the Z-direction power device (152).

7. The skip shifting mechanism according to any one of claims 3 to 6, wherein the X-direction power device (133), the Y-direction power device (142) and the Z-direction power device (152) each comprise a motor and a rack-and-pinion transmission device, the racks are respectively arranged on corresponding guide rails, the gears are connected with the motors, and the gears move on the racks under the driving of the motors.

8. The skip transfer mechanism according to claim 2, wherein the R-axis rotating mechanism (16) comprises a gear disc (161), an output gear (162), a limit gear (163) and a motor, the gear disc (161) is connected with the motor, one side of the output gear (162) is meshed with the gear disc (161), and the other side is meshed with the limit gear (163).

9. The skip shifting mechanism according to claim 2, wherein the clamping device (12) comprises a baffle (121), fork arms (122) symmetrically arranged at two ends of the baffle, and a cylinder (123) for driving the fork arms (122) to clamp or release, and the fork arms (122) are connected with the cylinder (123).

10. An automatic loading and unloading device for a skip car, characterized by comprising a skip car transfer mechanism (101), a skip car limiting device (102), a conveyor line sliding plate (103), a skip car (104) and a control mechanism (105) according to any one of claims 1 to 9, the two skip limiting devices (102) are respectively arranged at two ends of the skip shifting mechanism (101), the conveyor line sliding plate (103) is arranged at one end of the skip shifting mechanism (101) and is positioned outside the skip limiting device (102), the control mechanism (105) is electrically connected with the skip shifting mechanism (101), the control mechanism (105) can be started after the skip car (104) runs to the skip car limiting device (102) and is transferred to the conveyor line sliding plate (103) or is transferred out of the conveyor line sliding plate (103) through the skip car transferring mechanism (101).