CN114426211A - Automatic loading and unloading robot for box-packed goods - Google Patents

Automatic loading and unloading robot for box-packed goods Download PDF

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Publication number
CN114426211A
CN114426211A CN202011177177.0A CN202011177177A CN114426211A CN 114426211 A CN114426211 A CN 114426211A CN 202011177177 A CN202011177177 A CN 202011177177A CN 114426211 A CN114426211 A CN 114426211A
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CN
China
Prior art keywords
arm
large arm
driven roller
roller
plate
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Granted
Application number
CN202011177177.0A
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Chinese (zh)
Other versions
CN114426211B (en
Inventor
刘金
温帅雄
李�浩
胡威
王洪波
石立宏
郭琪
关云彪
刘汉斌
朱振泽
王玉博
张宇
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Tangshan Hairong Robot Application Technology Research Institute
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Tangshan Hairong Robot Application Technology Research Institute
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Priority to CN202011177177.0A priority Critical patent/CN114426211B/en
Publication of CN114426211A publication Critical patent/CN114426211A/en
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Publication of CN114426211B publication Critical patent/CN114426211B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/30—Methods or devices for filling or emptying bunkers, hoppers, tanks, or like containers, of interest apart from their use in particular chemical or physical processes or their application in particular machines, e.g. not covered by a single other subclass
    • B65G65/34—Emptying devices
    • B65G65/40—Devices for emptying otherwise than from the top
    • B65G65/42—Devices for emptying otherwise than from the top using belt or chain conveyors
    • B65G65/425—Devices for emptying otherwise than from the top using belt or chain conveyors arranged to be movable
    • 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
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/22—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising a series of co-operating units
    • B65G15/24—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising a series of co-operating units in tandem
    • 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
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
    • B65G15/22—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising a series of co-operating units
    • B65G15/26—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising a series of co-operating units extensible, e.g. telescopic
    • 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
    • B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
    • B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
    • B65G21/14—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of length or configuration of load-carrier or traction element
    • 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
    • B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
    • B65G23/44—Belt or chain tensioning arrangements
    • 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
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
    • B65G41/002—Pivotably mounted
    • 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
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/007—Means for moving conveyor frames and control arrangements therefor
    • B65G41/008—Means for moving conveyor frames and control arrangements therefor frames mounted on wheels or caterpillar
    • 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
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/915—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rotary movements only

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention belongs to the technical field of logistics automation equipment, and particularly relates to an automatic loading and unloading robot for box cargos, which comprises a transfer trolley, a follow-up conveying mechanism, a large arm mechanism and a small arm mechanism; the forearm mechanism includes: the device comprises a small arm side plate, a gripper guide plate, a conveying belt mounting plate, a rear conveying belt mechanism, a front conveying belt mechanism and a gripper mechanism; tongs mechanism includes: the four-bar linkage mechanism, the sucker bracket and the sucker; and a sucker avoiding gap for enabling the sucker to fall is formed between the front conveying belt mechanism and the rear conveying belt mechanism. According to the invention, after the container for containing goods is grabbed by the sucker, the sucker moves to drive the synchronous belt to drive the container to move backwards along the upper surface of the grab guide plate, and the sucker moves to the position below the container in the sucker avoiding gap so as to avoid the container. The automatic continuous grabbing device is reasonable in structural design, small in occupied space and strong in bearing capacity, and can achieve automatic continuous grabbing of containers.

Description

Automatic loading and unloading robot for box-packed goods
Technical Field
The invention belongs to the technical field of logistics automation equipment, and particularly relates to an automatic loading and unloading robot for box cargoes.
Background
At present, although the degree of automation of the front end of the logistics industry is relatively high, the goods packaged in the closed space such as containers still need to be loaded and unloaded manually or by means of forklift trays, the tail end of a conveying chain of the logistics industry still needs to be manually loaded and unloaded, and the technology for realizing the automatic loading and unloading of the closed space such as containers is basically in a blank stage. The boxed goods are stacked in the container, and due to the limitation of the container space, the goods are grabbed through the traditional manipulator, the grabbing of all boxed goods can not be completed frequently due to the interference of the container side wall, and the rotten packaging box is easy to grab.
More degrees of freedom need to be set for flexibly moving the gripper at the front end of the loading and unloading robot, the degrees of freedom are usually achieved through a plurality of driving modes connected in series, the structure is complex, more driving motors are needed, one driving mode is connected in series with the output end of the other driving mode, the load of the driving mode is increased, and the manipulator is heavy.
Disclosure of Invention
The invention aims to overcome the defects of complex and heavy structure of a loading and unloading manipulator driven in series in the prior art, and provides the automatic loading and unloading robot for boxed goods, which has a simple structure and small driving load and can transport goods in a long distance.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides a case dress goods auto-control handling robot for loading and unloading case dress goods are to the conveyer belt on, its characterized in that: the device comprises a transfer trolley, a follow-up conveying mechanism rotationally mounted on the transfer trolley, a large arm mechanism connected with the follow-up conveying mechanism and a small arm mechanism connected with the large arm mechanism; the forearm mechanism includes: the device comprises two small arm side plates which are arranged in parallel and oppositely, two oppositely arranged gripper guide plates arranged between the front parts of the two small arm side plates, two oppositely arranged conveying belt mounting plates arranged between the rear parts of the two small arm side plates, a rear conveying belt mechanism, a front conveying belt mechanism and a gripper mechanism; the front end and the rear end of the gripper guide plate are respectively provided with a front slope section and a rear slope section which are inclined downwards; the tongs mechanism includes: the four-bar mechanism is symmetrically arranged between the small arm side plates, the sucker support is connected between the two four-bar mechanisms, and the suckers are arranged at the front end of the sucker support; the four-bar linkage includes: the device comprises a sliding frame rod, a rear rocker rotationally connected to the rear end of the sliding frame rod, a front rocker rotationally connected to the front end of the sliding frame rod, and a side link rod rotationally connected with the end parts of the rear rocker and the front rocker; the lower end of the side link is provided with a guide wheel, and the guide wheel moves along the upper surface of the gripper guide plate; the sucker bracket is connected to the side link, and the slide frame rod is fixed on a sucker movement driving synchronous belt which moves back and forth; and a sucker avoiding gap for enabling the sucker to fall is formed between the front conveying belt mechanism and the rear conveying belt mechanism.
Furthermore, a support avoiding gap for accommodating the sucker support to fall is formed between the gripper guide plate and the conveying belt mounting plate.
Further, the tongs mechanism still includes: the gripper moving motor, a clamping driving belt wheel arranged on an output shaft of the gripper moving motor, a clamping driven belt wheel connected with the clamping driving belt wheel through a clamping synchronous belt, a first moving belt wheel coaxially arranged with the clamping driven belt wheel, and a second moving belt wheel rotatably arranged at the front end of the small arm side plate; the sucker moving driving synchronous belt is sleeved on the first moving belt wheel and the second moving belt wheel; the slide frame rod is fixed on the sucker moving driving synchronous belt through a synchronous belt clamping block.
Further, back conveyer belt mechanism is including rotating the installation the third power cylinder of conveyer belt mounting panel rear end, install the driven cylinder of back conveyer belt and the cover of conveyer belt mounting bracket front end are established third power cylinder with the back conveyer belt on the driven cylinder of back conveyer belt.
Further, the front conveyor belt mechanism includes: the rotary mounting is in the fourth power cylinder of tongs deflector rear end, rotary mounting are in preceding conveyer belt driven drum and cover on the forearm curb plate are established fourth power cylinder with preceding conveyer belt on the preceding conveyer belt driven drum.
Furthermore, the transfer trolley comprises a frame chassis, a support frame fixedly arranged on the frame chassis and Mecanum wheels arranged at four corners of the frame chassis.
Further, the follow-up conveying mechanism includes: the device comprises a rotary base, a fixed frame, a movable frame, a first power roller, a first gear driven roller, a second gear driven roller, a third gear driven roller, a fourth driven roller, a fifth driven roller, a first guide roller and a second guide roller, wherein the rotary base is rotatably arranged at the upper end of a supporting frame through a bearing; the first conveying belt sequentially bypasses the first power roller, the first guide roller and the first flange driven roller, then bypasses the upper surface of the first supporting panel and the upper surface of the second supporting panel, bypasses the second flange driven roller, the third flange driven roller, the fourth driven roller and the fifth driven roller, and continuously bypasses the second guide roller and then bypasses the first power roller.
Further, the large arm mechanism includes: the large arm main frame plate, a large arm extension plate connected with the large arm main frame plate in a sliding manner, a second power roller rotatably mounted on the large arm main frame plate, a first large arm driven roller mounted at the rear end of the large arm main frame plate, a second large arm driven roller and a third large arm driven roller mounted at the front part of the large arm extension plate, a fourth large arm driven roller mounted at the rear end of the large arm extension plate, a fifth large arm driven roller mounted at the front end of the large arm main frame plate, a sixth large arm driven roller mounted at the rear part of the large arm main frame plate, and a first large arm guide roller and a second large arm guide roller rotatably mounted on two sides of the second power roller; the second conveying belt sequentially winds around the second power roller, the first large arm guide roller, the first large arm driven roller, the second large arm driven roller, the third large arm driven roller, the fourth large arm driven roller, the fifth large arm driven roller, the sixth large arm driven roller and the second large arm guide roller and then winds onto the second power roller, and a closed-loop conveying belt with the unchanged total length is formed.
Further, a large arm sliding block and a large arm extension adjusting rack are fixedly mounted on the large arm main frame plate, and a large arm sliding rail and a large arm sliding driving motor are fixedly mounted on the large arm extension plate; the large arm sliding block is connected with the large arm sliding rail in an adaptive mode, a large arm extension adjusting gear is coaxially mounted on an output shaft of the large arm sliding driving motor, and the large arm extension plate slides back and forth along the large arm main frame plate through the large arm extension adjusting gear and the large arm extension adjusting rack in a meshing transmission mode.
Furthermore, the small arm mechanism and the large arm mechanism are connected through a two-degree-of-freedom joint; the two-degree-of-freedom joint comprises a joint driving speed reducing motor arranged at the front end of the large arm extension plate, the joint driving speed reducing motor comprises a left joint driving speed reducing motor and a right joint driving speed reducing motor, the output end of the joint driving speed reducing motor is connected with a driving cam, the output end of the driving cam is connected to the rear end of a connecting rod, the front end of the connecting rod is connected to the input end of a driven cam, and a rotating shaft connected with the driven cam is connected with a driving bevel gear; the left driving bevel gear and the right driving bevel gear are gears with the same specification.
The automatic loading and unloading robot for the box cargos has the beneficial effects that:
1. after the container for containing goods is grabbed by the sucker, the sucker moves to drive the synchronous belt to drive the container to move backwards along the upper surface of the grab guide plate, the front slope section of the grab guide plate can enable the sucker to move to a position as low as possible at the front end, the container at the bottom layer of the container can be guaranteed to be sucked, when the guide wheel moves to the bottom end of the rear slope section of the grab guide plate, the container contacts the front conveying belt, the sucker is loosened to place the container on the front conveying belt, the front conveying belt conveys the container backwards to the rear conveying belt, the sucker is located below the container in a sucker avoiding gap between the front conveying belt and the rear conveying belt to avoid the container, after the container is completely conveyed to the rear conveying belt, the sucker is lifted and moved to the front end of the small arm mechanism to grab the container for the next time. The automatic continuous grabbing device is reasonable in structural design, small in occupied space and strong in bearing capacity, and can achieve automatic continuous grabbing of containers.
2. The upper and lower pitching actions of the small arm mechanism connected to the small arm connecting plate can be completed by the same-direction and same-speed rotation of the two driving bevel gears; when the two driving bevel gears rotate reversely at the same speed, the small arm mechanism can be driven to complete the action of horizontal swinging; when the two driving bevel gears rotate in the same direction and at different speeds, the linkage of pitching and horizontal swinging can be completed. Two-degree-of-freedom rotary motion with two mutually perpendicular and intersecting shafts as rotation centers is realized by controlling the rotating speed and the steering of the left driving bevel gear and the right driving bevel gear, and the two rotary motions can act independently and can also be linked. The side shaft driving mechanism has the advantages that the manufacture is simple, the installation is convenient and compact, the two driving bevel gears are driven respectively, the torque borne by the side shaft is reduced, the power required by the driving motor is reduced, and further the cost is reduced. The multi-degree-of-freedom movement of the small arm mechanism is realized through a simple structure so as to meet the requirements of loading or unloading at different positions.
3. The length of the conveyer belt of the large arm mechanism for conveying goods can be adjusted, the requirements of loading and unloading containers with different depths and heights in the container can be met, and the length of the upper layer conveyer belt of the large arm mechanism can be adjusted within a small range as required after the transfer trolley stops at a certain position. In addition, the angle of the large arm mechanism can be adjusted, the length of a conveying belt used for conveying goods on the upper layer of the follow-up conveying mechanism can be extended and contracted in a follow-up mode according to the adjustment of the angle of the large arm mechanism, and the whole loading and unloading robot is good in mutual coordination performance.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Fig. 1 is an overall configuration diagram of a box cargo automatic loading and unloading robot according to an embodiment of the present invention;
FIG. 2 is a perspective view of a follower conveyor mechanism according to an embodiment of the present invention;
FIG. 3 is a partial structural view of a follow-up conveying mechanism according to an embodiment of the present invention;
FIG. 4 is a partial schematic view of an automated case cargo handling robot according to an embodiment of the present invention;
FIG. 5 is a perspective view of an angle adjustment mechanism of an embodiment of the present invention;
FIG. 6 is a perspective view of a large arm mechanism of an embodiment of the present invention;
FIG. 7 is a partial structural view of a large arm mechanism according to an embodiment of the present invention;
FIG. 8 is a partial block diagram of another perspective of the large arm mechanism of an embodiment of the present invention;
FIG. 9 is a perspective view of a small arm mechanism of an embodiment of the present invention;
FIG. 10 is a partial structural view of the forearm mechanism of the embodiment of the invention;
FIG. 11 is a view in elevation of an alternate aspect of the forearm mechanism of an embodiment of the invention;
FIG. 12 is a view of the construction of a gripper guide plate according to an embodiment of the invention;
FIG. 13 is a perspective view of a two degree-of-freedom joint of an embodiment of the present invention;
fig. 14 is a perspective view of a dual narrowband mechanism of an embodiment of the invention.
In the figure, 1, a transfer trolley, 11, a frame chassis, 12, a support frame, 13, a Mecanum wheel, 2, a follow-up conveying mechanism, 20, a rotary base, 21, a first power roller, 22, a fixed frame, 221, a fixed side plate, 222, a first support panel, 223, a first lower connecting plate, 23, a movable frame, 231, a second support panel, 232, a movable side plate, 24, a first flange driven roller, 25, a second flange driven roller, 26, a third flange driven roller, 27, a fourth driven roller, 28, a fifth driven roller, 29, a first guide roller, 210, a second guide roller, 211, a first slide rail, 212, a first slide block, 213, a tension adjusting threaded rod, 214, a tension block, 215, an adjusting bolt, 216, a tension groove, 217, a first conveying belt, 3, a large arm mechanism, 30, a large arm main frame plate, 31, a large arm extension plate, 32, a second power roller, 33. first large arm driven roller, 34, second large arm driven roller, 35, third large arm driven roller, 36, fourth large arm driven roller, 37, fifth large arm driven roller, 38, sixth large arm driven roller, 39, first large arm guide roller, 310, second large arm guide roller, 311, second conveyor belt, 312, large arm slider, 313, large arm extension adjusting rack, 314, large arm slide rail, 315, large arm slide driving motor, 316, large arm extension adjusting gear, 4, small arm mechanism, 40, small arm side plate, 41, gripper guide plate, 411, front slope section, 412, rear slope section, 42, conveyor belt mounting plate, 43, suction cup holder, 44, suction cup, 45, carriage lever, 46, rear rocker, 47, front rocker, 48, link lever, 49, guide wheel, 410, suction cup movement driving timing belt, 413, suction cup avoiding gap, 414, holder avoiding gap, 415, 38, suction cup, A gripper moving motor 416, a gripping driving pulley 417, a gripping synchronous belt 418, a gripping driven pulley 419, a first moving pulley 420, a second moving pulley 421, a synchronous belt clamping block 422, a third power roller 423, a rear conveyer belt driven roller 424, a rear conveyer belt 425, a fourth power roller 426, a front conveyer belt driven roller 427, a front conveyer belt 50, a third conveyer belt driving mechanism 51, a boom support rod 52, a support rod lower rotating shaft 53, a support rod upper rotating shaft 54, a first electric cylinder 55, a second electric cylinder 56, a third electric cylinder 6, a two-degree-of-freedom joint 61, a left joint driving reducing motor 62, a right joint driving reducing motor 63, a driven cam 64, a driving cam 65, a connecting rod 66, a left driving bevel gear 67, a right driving bevel gear 68, a driven bevel gear, 69. the device comprises a small arm connecting plate, 7, a universal joint, 8, a narrow belt transmission mechanism, 81, a third power roller, 82, a first narrow belt driven roller, 83, a second narrow belt driven roller, 84, a first belt carrier roller, 85, a second belt carrier roller, 86 and a narrow belt.
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic views illustrating only the basic structure of the present invention in a schematic manner, and thus show only the constitution related to the present invention.
In the embodiment, the reference of front and back is taken as the reference standard that the transfer trolley is at the back and the small arm mechanism is at the front.
An embodiment of a box cargo auto-loading and unloading robot according to the present invention as shown in fig. 1 to 14 includes: the transfer trolley comprises a transfer trolley 1, a follow-up conveying mechanism 2 rotatably arranged on the transfer trolley 1, a large arm mechanism 3 connected with the follow-up conveying mechanism 2 and a small arm mechanism 4 connected with the large arm mechanism 3.
Referring to fig. 1, 4 and 5, the transfer vehicle 1 includes a frame chassis 11, a support frame 12 fixedly mounted on the frame chassis 11, and mecanum wheels 13 mounted at four corners of the frame chassis 11.
With reference to fig. 1 to 3, the follow-up conveying mechanism 2 includes: a rotary base 20 rotatably mounted on the upper end of the support frame 12 through a bearing, a fixed frame 22 fixedly mounted on the rotary base 20, a movable frame 23 slidably connected to the fixed frame 22, a first power roller 21 rotatably mounted on the fixed frame 22, a first edge driven roller 24 mounted on the rear end of the fixed frame 22, a second edge driven roller 25 and a third edge driven roller 26 mounted on the front end of the movable frame 23 in parallel up and down, a fourth driven roller 27 mounted on the rear end of the movable frame 23, a fifth driven roller 28 slidably mounted on the front end of the fixed frame 22, and a first guide roller 29 and a second guide roller 210 arranged on two sides of the first power roller 21; the fixed frame 22 includes two fixed side plates 221 disposed opposite to each other, a first support panel 222 connected to an upper end of the fixed frame 22, and a first lower connection plate 223 connected to a lower end of the fixed frame 22, and the movable frame 23 includes two movable side plates 232 disposed opposite to each other and a second support panel 231 connected between the movable side plates 232. The upper layer first conveyor belt 217 is attached to the upper surfaces of the first support panel 222 and the second support panel 231. The lower first conveyor belt 217 is attached to the lower surface of the first lower connecting plate 223. The inner surface of the fixed side plate 221 is fixedly provided with a first slider 212, and the outer surface of the movable side plate 232 is fixedly provided with a first slide rail 211 corresponding to the first slider 212. The rotating shaft of the fifth driven roller 28 is mounted on a fixed side plate 221 through a tensioning mechanism, the tensioning mechanism comprises two tensioning blocks 214 which are oppositely mounted and fixed on the fixed side plate, a tensioning adjusting threaded rod 213 which is mounted on the two tensioning blocks 214 in a threaded connection mode, and an adjusting bolt 215 which is sleeved on the tensioning adjusting threaded rod 213 between the two tensioning blocks 214, a tensioning groove 216 is formed in the fixed side plate, the rotating shaft of the fifth driven roller 28 penetrates through the tensioning groove 216 and then is connected to the tensioning adjusting threaded rod 213, and the front and back position of the fifth driven roller 28 is adjusted through the front and back adjusting tensioning adjusting threaded rod 213 so as to tension the first conveying belt 217.
In this embodiment, the first sliding block 212 is disposed on the inner side surface of the fixed frame 22, and the first sliding rail 211 is fixed on the outer side surface of the movable frame 23, so that the installation and the fixation are convenient, and the locking is not easy to occur.
The first conveyor belt 217 sequentially passes around the first power roller 21, the first guide roller 29, the first rib driven roller, the upper surface of the first support panel 222, the upper surface of the second support panel 231, the second rib driven roller 25, the third rib driven roller 26, the fourth driven roller 27, and the fifth driven roller 28, continues to pass around the second guide roller 210, and then passes around the first power roller 21.
Referring to fig. 4 to 8, the large arm mechanism 3 includes: the large arm main frame plate 30, a large arm extension plate 31 connected with the large arm main frame plate 30 in a sliding manner, a second power roller 32 rotatably installed on the large arm main frame plate 30, a first large arm driven roller 33 installed at the rear end of the large arm main frame plate 30, a second large arm driven roller 34 and a third large arm driven roller 35 installed at the front part of the large arm extension plate 31, a fourth large arm driven roller 36 installed at the rear end of the large arm extension plate and a fifth large arm driven roller 37 installed at the front end of the large arm main frame plate 30, a sixth large arm driven roller 38 installed at the rear part of the large arm main frame plate 30 and a first large arm guide roller 39 and a second large arm guide roller 310 rotatably installed at two sides of the second power roller 32. The second conveyer belt 311 winds the second power roller 32 after sequentially winding around the second power roller 32, the first big arm guide roller 39, the first big arm driven roller 33, the second big arm driven roller 34, the third big arm driven roller 35, the fourth big arm driven roller 36, the fifth big arm driven roller 37, the sixth big arm driven roller 38 and the second big arm guide roller 310; forming a closed-loop conveying belt with constant total length; wherein the conveyor belt between the second large arm driven roller 34 and the third large arm driven roller 35, the conveyor belt between the third large arm driven roller 35 and the fourth large arm driven roller 36, the conveyor belt between the fourth large arm driven roller 36 and the fifth large arm driven roller 37, and the conveyor belt between the fifth large arm driven roller 37 and the sixth large arm driven roller 38 form four overlapping portions, and the length of the second conveyor belt 311 for conveying goods at the uppermost layer can be adjusted by adjusting the length of the four overlapping portions.
The large arm main frame plate 30 is fixedly provided with a large arm sliding block 312 and a large arm extension adjusting rack 313, and the large arm extension plate 31 is fixedly provided with a large arm sliding rail 314 and a large arm sliding driving motor 315; the large arm sliding block 312 is connected with the large arm sliding rail 314 in a matching manner, a large arm extension adjusting gear 316 is coaxially installed on an output shaft of the large arm sliding driving motor 315, and the large arm extension plate 31 slides back and forth along the large arm main frame plate 30 through the meshing transmission of the large arm extension adjusting gear 316 and the large arm extension adjusting rack 313, so that the length of the second conveying belt 311 used for conveying goods at the uppermost layer is further realized.
The upper end of the large arm main frame plate 30 has a large arm belt upper pad for supporting the upper second belt 311, and the lower end of the large arm main frame plate 30 has a large arm belt lower pad for supporting the lower second belt 311.
Wherein the first conveyor belt 217 and the second conveyor belt 311 are wide belts positioned in the middle, long-distance conveying prevents the boxed goods from falling,
the front end of the large arm extension plate 31 is also provided with a short section of double-narrow-band conveying mechanism which is butted with the second conveying belt 311, and the double-narrow-band conveying mechanism is conveniently connected with the small arm mechanism 4.
Referring to fig. 14, the double narrow-band conveying mechanism is two narrow-band conveying mechanisms 8 symmetrically arranged left and right, each narrow-band conveying mechanism 8 comprises a third power roller 81 rotatably mounted on the large-arm extension plate 31, a first narrow-band driven roller 82 and a second narrow-band driven roller 83 mounted on a side plate of the large-arm extension plate 31, a first belt carrier roller 84 and a second belt carrier roller 85 mounted at the front end of the large-arm extension plate 31 and arranged up and down, and a narrow band 86 is wound on the third power roller 81, and is wound on the third power roller 81 after sequentially wound on the first belt carrier roller 84, the second belt carrier roller 85, the first narrow-band driven roller 82 and the second narrow-band driven roller 83 in an anticlockwise manner, so as to form a closed-loop conveying belt.
The follow-up conveying mechanism 2 is connected with the large arm mechanism 3 through a universal joint 7; the large arm mechanism 3 is mounted on the frame chassis 11 of the transfer trolley 1 by means of an angle adjustment mechanism, see fig. 4 and 5, which comprises: a third conveyer belt driving mechanism 50 rotatably mounted on the frame chassis 11 is mounted on a first electric cylinder 54 on the frame chassis 11, a telescopic shaft of the first electric cylinder 54 is fixedly mounted on the third conveyer belt driving mechanism 50, a large arm support rod 51 is arranged between the third conveyer belt driving mechanism 50 and the large arm main frame plate 30, the lower end of the large arm support rod 51 is rotatably connected to an angle adjusting plate through a support rod lower rotating shaft 52, and the upper end of the large arm support rod 51 is rotatably connected with the large arm main frame plate 30 through a support rod upper rotating shaft 53; the fixed end of the second electric cylinder 55 is arranged on the third conveyer belt driving mechanism 50, and the telescopic end of the second electric cylinder is arranged at the upper end of the large arm support rod 51; the fixed end of the third electric cylinder 56 is arranged on the lower rotating shaft 52 of the support rod, and the telescopic end thereof is arranged on the large arm fixing frame 22. The third conveyer belt driving mechanism 50 is pushed by the first electric cylinder 54 to rotate so as to drive the large arm mechanism 3 to rotate around the vertical shaft, so that the large arm mechanism 3 swings left and right. The large arm mechanism 3 is pushed to perform the up-and-down pitching motion by the cooperative action of the second electric cylinder 55 and the third electric cylinder 56.
The small arm mechanism 4 is connected with the large arm mechanism 3 through a two-degree-of-freedom joint 6.
Referring to fig. 9 to 12, the arm mechanism 4 includes: the device comprises two small arm side plates 40 which are arranged in parallel and oppositely, two oppositely arranged gripper guide plates 41 arranged between the front parts of the two small arm side plates 40, two oppositely arranged conveying belt mounting plates 42 arranged between the rear parts of the two small arm side plates 40, a rear conveying belt mechanism, a front conveying belt mechanism and a gripper mechanism; the front and rear ends of the grip guide plate 41 have a front slope section 411 and a rear slope section 412, respectively, which are inclined downward; tongs mechanism includes: two four-bar linkage mechanisms symmetrically arranged between the small arm side plates 40, a sucker bracket 43 connected between the two four-bar linkage mechanisms and a plurality of suckers 44 arranged at the front end of the sucker bracket 43; the four-bar linkage includes: the device comprises a sliding frame rod 45, a rear rocker 46 rotationally connected to the rear end of the sliding frame rod 45, a front rocker 47 rotationally connected to the front end of the sliding frame rod, and a side link 48 rotationally connected with the end parts of the rear rocker 46 and the front rocker 47; the lower end of the side link 48 is provided with a guide wheel 49, and the guide wheel 49 moves along the upper surface of the gripper guide plate 41; the sucker bracket 43 is connected to the side link 48, and the slide frame rod 45 is fixed on the sucker movement driving synchronous belt 410 which moves back and forth; a suction cup escape gap 413 for allowing the suction cup 44 to fall is provided between the front conveyor mechanism and the rear conveyor mechanism. A support escape gap 414 for accommodating the suction cup support 43 to fall is provided between the grip guide plate 41 and the conveyor belt mounting plate 42.
Tongs mechanism still includes: a gripper moving motor 415, a gripping driving pulley 416 mounted on an output shaft of the gripper moving motor 415, a gripping driven pulley 418 connected to the gripping driving pulley 416 through a gripping timing belt 417, a first moving pulley 419 coaxially mounted with the gripping driven pulley 418, and a second moving pulley 420 rotatably mounted on a front end of the arm side plate 40; the sucker moving driving synchronous belt 410 is sleeved on the first moving belt wheel 419 and the second moving belt wheel 420; the carriage lever 45 is fixed to the suction cup movement driving timing belt 410 through a timing belt clamping block 421.
The rear conveyor belt mechanism comprises a third power roller 422 rotatably mounted at the rear end of the conveyor belt mounting plate 42, a rear conveyor belt driven roller 423 mounted at the front end of the conveyor belt mounting frame 42, and a rear conveyor belt 424 sleeved on the third power roller 422 and the rear conveyor belt driven roller 423.
Preceding conveyer belt mechanism includes: a fourth power roller 425 rotatably mounted on the rear end of the gripper guide plate, a front belt driven roller 426 rotatably mounted on the arm side plate 40, and a front belt 427 fitted over the fourth power roller 425 and the front belt driven roller 426.
The rear of the sucker 44 is provided with an air distribution block which is connected with an air source.
For example, when the small arm mechanism 4 takes a container from a warehouse or a container, the gripper moving motor 415 drives the suction cup moving driving synchronous belt 410 to drive the suction cup to move to the foremost end of the small arm mechanism, the guide wheel 49 is positioned at the front slope section of the gripper guide plate 41, then the suction cup 44 sucks up the container, the gripper moving motor 415 rotates reversely to drive the suction cup 44 to move backwards to the suction cup avoiding gap 413, at this time, the suction cup bracket 43 is positioned in the bracket avoiding gap 414, the suction cup 44 places the container on the front conveyor 427, the front conveyor conveys the container backwards to the rear conveyor 424, and after the container completely moves to the rear conveyor 424, the gripper moving motor 415 drives the suction cup 44 to move to the foremost end of the small arm mechanism 4 again to take the next container.
In order to prevent the boxed goods from falling off the conveyor belts during the conveying process, goods baffles are mounted on both sides of the first conveyor belt 217, the second conveyor belt 311 and the rear conveyor belt 424.
Referring to fig. 13, the two-degree-of-freedom joint 6 includes a joint driving gear motor installed at the front end of the large arm extension plate 31, the joint driving gear motor includes a left joint driving gear motor 61 and a right joint driving gear motor 62, an output end of the joint driving gear motor is connected with a driving cam 64, an output end of the driving cam 64 is connected to the rear end of a connecting rod 65, a front end of the connecting rod 65 is connected to an input end of a driven cam 63, a rotating shaft connected with the driven cam 63 is connected with a driving bevel gear, the driving bevel gear is divided into a left driving bevel gear 66 and a right driving bevel gear 67, a small arm connecting plate 69 is fixedly installed at the rear end of the mounting and dismounting side plate 43, a driven bevel gear 68 is installed on the small arm connecting plate 69, and the left driving bevel gear 66 and the right driving bevel gear 67 are engaged with the driven bevel gear 68 at the left and right sides of the driven bevel gear 68. Wherein the left drive bevel gear 66 and the right drive bevel gear 67 are gears of the same specification.
The two-degree-of-freedom joint 6 can drive the loading and unloading mechanism to realize the motions of two degrees of freedom of pitching and horizontal swinging, and has three control modes, namely, the two driving bevel gears rotate in the same direction and at the same speed, so that the loading and unloading mechanism connected to the small arm connecting plate 69 can complete the up-and-down pitching motion; when the two driving bevel gears rotate reversely at the same speed, the loading and unloading mechanism can be driven to finish the action of horizontal swinging; when the two driving bevel gears rotate in different directions and at different speeds, the linkage of pitching and horizontal swinging can be completed.
The left driving bevel gear 66 and the right driving bevel gear 67 are respectively driven by different motors, so that the torque borne by the side shaft is reduced, the power required by the driving motor is reduced, and the cost is reduced.
The left driving bevel gear 66 and the right driving bevel gear 67 are rigidly driven by the connecting rod 65, and can meet the requirement for the rotation angle through the cam, compared with flexible transmission such as belt transmission, the small arm mechanism 4 is free from shaking and slipping in the working process, and the structure is more stable and reliable.
The unloading process of the automatic loading and unloading robot for boxed goods in the embodiment of the invention is as follows:
the automatic loading and unloading robot for the boxed goods is adapted to the position change of the goods in the container or the warehouse, and the macroscopic integral motion is realized by the Mecanum wheels 13.
The small arm mechanism 4 at the front end provides the two-degree-of-freedom joint 6, the angle adjusting mechanism and the follow-up conveying mechanism 2 for cooperating with the position of the boxed goods in the left-right direction and the position change in the up-down direction. Specifically, when it is necessary to load and unload the stacked boxed goods in the warehouse or the container, taking unloading as an example, the transfer vehicle 1 is moved to a proper position to ensure that the scooping slope 431 at the front end of the small arm mechanism 4 can move to the lower part of the container of the boxed goods, the large arm mechanism 3 is swung left and right by the first electric cylinder 54, the pitching movement of the large arm mechanism 3 is adjusted by the cooperative action of the second electric cylinder 55 and the third electric cylinder 56, and the movable frame 23 of the follow-up conveying mechanism 2 slides along the first slide block 212 along with the large arm mechanism 3. Meanwhile, the whole length of the large arm mechanism 3 can be adjusted according to requirements to compensate the requirement of three-degree-of-freedom movement of the small arm mechanism 4. The boxed goods are sucked up by the suction cup 44 at the foremost end of the arm mechanism 4 and then sequentially carried out by the front conveyor 427, the rear conveyor 424, the double belt 86, the second conveyor 311, and the third conveyor 48.
The operation of loading the container with the cargo is the reverse of the above-mentioned unloading process, and it should be understood that the above-mentioned embodiments are only used for explaining the present invention, and are not used to limit the present invention. Obvious variations or modifications which are within the spirit of the invention are possible within the scope of the invention.

Claims (10)

1. The utility model provides a case dress goods auto-control handling robot for loading and unloading case dress goods are to the conveyer belt on, its characterized in that: comprises a transfer trolley (1), a follow-up conveying mechanism (2) rotatably arranged on the transfer trolley (1), a large arm mechanism (3) connected with the follow-up conveying mechanism (2) and a small arm mechanism (4) connected with the large arm mechanism (3); the arm mechanism (4) includes: the device comprises two small arm side plates (40) which are arranged in parallel and oppositely, two oppositely arranged gripper guide plates (41) which are arranged between the front parts of the two small arm side plates (40), two oppositely arranged conveying belt mounting plates (42) which are arranged between the rear parts of the two small arm side plates (40), a rear conveying belt mechanism, a front conveying belt mechanism and a gripper mechanism; the front end and the rear end of the gripper guide plate (41) are respectively provided with a front slope section (411) and a rear slope section (412) which are inclined downwards; the tongs mechanism includes: the four-bar mechanism is symmetrically arranged between the small arm side plates (40), the sucker bracket (43) is connected between the two four-bar mechanisms, and the suckers (44) are arranged at the front end of the sucker bracket (43); the four-bar linkage includes: the device comprises a sliding frame rod (45), a rear rocker (46) rotatably connected to the rear end of the sliding frame rod (45), a front rocker (47) rotatably connected to the front end of the sliding frame rod, and a side link (48) rotatably connected with the end parts of the rear rocker (46) and the front rocker (47); the lower end of the side link (48) is provided with a guide wheel (49), and the guide wheel (49) moves along the upper surface of the hand grip guide plate (41); the sucker bracket (43) is connected to the side link (48), and the slide frame rod (45) is fixed on a sucker movement driving synchronous belt (410) which moves back and forth; a suction cup avoiding gap (413) enabling the suction cup (44) to fall is formed between the front conveying belt mechanism and the rear conveying belt mechanism.
2. The automated case cargo handling robot of claim 1, wherein: and a support avoiding gap (414) for accommodating the falling of the sucker support (43) is formed between the gripper guide plate (41) and the conveyer belt mounting plate (42).
3. The automated case cargo handling robot of claim 1, wherein: the tongs mechanism still includes: the gripper moving mechanism comprises a gripper moving motor (415), a clamping driving pulley (416) arranged on an output shaft of the gripper moving motor (415), a clamping driven pulley (418) connected with the clamping driving pulley (416) through a clamping synchronous belt (417), a first moving pulley (419) coaxially arranged with the clamping driven pulley (418), and a second moving pulley (420) rotatably arranged at the front end of the small arm side plate (40); the sucker moving driving synchronous belt (410) is sleeved on the first moving belt wheel (419) and the second moving belt wheel (420); the slide frame rod (45) is fixed on the sucker movement driving synchronous belt (410) through a synchronous belt clamping block (421).
4. The automatic box cargo handling robot according to claim 1, wherein the rear conveyor mechanism comprises a third power roller (422) rotatably mounted at the rear end of the conveyor mounting plate (42), a rear conveyor driven roller (423) mounted at the front end of the conveyor mounting plate (42), and a rear conveyor (424) fitted over the third power roller (422) and the rear conveyor driven roller (423).
5. The automated case cargo handling robot of claim 1, wherein: preceding conveyer belt mechanism includes: the front conveyor belt driving device comprises a fourth power roller (425) rotatably mounted at the rear end of the gripper guide plate, a front conveyor belt driven roller (426) rotatably mounted on the small arm side plate (40), and a front conveyor belt (427) sleeved on the fourth power roller (425) and the front conveyor belt driven roller (426).
6. The automated case cargo handling robot of claim 1, wherein: the transfer trolley (1) comprises a frame chassis (11), a support frame (12) fixedly arranged on the frame chassis (11) and Mecanum wheels (13) arranged at four corners of the frame chassis (11).
7. The automated case cargo handling robot of claim 6, wherein: the follow-up conveying mechanism (2) comprises: the automatic feeding device comprises a rotary base (20) rotatably mounted at the upper end of a support frame (12) through a bearing, a fixed frame (22) fixedly mounted on the rotary base (20), a movable frame (23) connected to the fixed frame (22) in a sliding manner, a first power roller (21) rotatably mounted on the fixed frame (22), a first gear driven roller (24) mounted at the rear end of the fixed frame (22), a second gear driven roller (25) and a third gear driven roller (26) which are mounted at the front end of the movable frame (23) in an up-and-down parallel manner, a fourth driven roller (27) mounted at the rear end of the movable frame (23), a fifth driven roller (28) slidably mounted at the front end of the fixed frame (22), and a first guide roller (29) and a second guide roller (210) arranged on two sides of the first power roller (21); the first conveying belt (217) sequentially winds around the first power roller (21), the first guide roller (29) and the first flange driven roller, then winds around the upper surface of the first supporting panel (222), the upper surface of the second supporting panel (231), the second flange driven roller (25), the third flange driven roller (26), the fourth driven roller (27) and the fifth driven roller (28), and continuously winds around the second guide roller (210) and then winds onto the first power roller (21).
8. The automated case cargo handling robot of claim 7, wherein: the large arm mechanism (3) includes: the large-arm main frame plate (30), a large-arm extension plate (31) connected with the large-arm main frame plate (30) in a sliding manner, a second power roller (32) rotatably installed on the large-arm main frame plate (30), a first large-arm driven roller (33) installed at the rear end of the large-arm main frame plate (30), a second large-arm driven roller (34) and a third large-arm driven roller (35) installed at the front part of the large-arm extension plate (31), a fourth large-arm driven roller (36) installed at the rear end of the large-arm extension plate, a fifth large-arm driven roller (37) installed at the front end of the large-arm main frame plate (30), a sixth large-arm driven roller (38) installed at the rear part of the large-arm main frame plate (30), and a first large-arm guide roller (39) and a second large-arm guide roller (310) rotatably installed at two sides of the second power roller (32); the second conveying belt (311) sequentially rounds the second power roller (32), the first large arm guide roller (39), the first large arm driven roller (33), the second large arm driven roller (34), the third large arm driven roller (35), the fourth large arm driven roller (36), the fifth large arm driven roller (37), the sixth large arm driven roller (38) and the second large arm guide roller (310) and then rounds the second power roller (32), and a closed-loop conveying belt with unchanged total length is formed.
9. The automated case cargo handling robot of claim 8, wherein: a large arm sliding block (312) and a large arm extension adjusting rack (313) are fixedly mounted on the large arm main frame plate (30), and a large arm sliding rail (314) and a large arm sliding driving motor (315) are fixedly mounted on the large arm extension plate (31); the large arm sliding block (312) is connected with the large arm sliding rail (314) in an adaptive mode, a large arm extension adjusting gear (316) is coaxially installed on an output shaft of the large arm sliding driving motor (315), and the large arm extension plate (31) slides back and forth along the large arm main frame plate (30) through meshing transmission of the large arm extension adjusting gear (316) and the large arm extension adjusting rack (313).
10. The automated case cargo handling robot of claim 9, wherein: the small arm mechanism (4) is connected with the large arm mechanism (3) through a two-degree-of-freedom joint (6); the two-degree-of-freedom joint (6) comprises a joint driving speed reduction motor arranged at the front end of a large arm extension plate (31), the joint driving speed reduction motor comprises a left joint driving speed reduction motor (61) and a right joint driving speed reduction motor (62), the output end of the joint driving speed reduction motor is connected with a driving cam (64), the output end of the driving cam (64) is connected to the rear end of a connecting rod (65), the front end of the connecting rod (65) is connected to the input end of a driven cam (63), a rotating shaft connected with the driven cam (63) is connected with a driving bevel gear, the driving bevel gear is divided into a left driving bevel gear (66) and a right driving bevel gear (67), the rear end of a loading and unloading side plate (43) is fixedly provided with a small arm connecting plate (69), a driven bevel gear (68) is arranged on the small arm connecting plate (69), and the left driving bevel gear (66) and the right driving bevel gear (67) are arranged on the left side and the right side of the driven bevel gear (68) and the driven bevel gear (69) The gears (68) are meshed; wherein the left driving bevel gear (66) and the right driving bevel gear (67) are gears with the same specification.
CN202011177177.0A 2020-10-29 2020-10-29 Automatic loading and unloading robot for box cargoes Active CN114426211B (en)

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CN214059249U (en) * 2020-10-29 2021-08-27 唐山海容机器人应用技术研究院 Automatic loading and unloading robot for box-packed goods

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CN108773689A (en) * 2018-06-29 2018-11-09 武汉奋进智能机器有限公司 A kind of height adaptive uploading in rice steamer robot
CN108974964A (en) * 2018-08-29 2018-12-11 中国科学院合肥物质科学研究院 A kind of container cargo intelligent mounting-dismounting device
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