CN103964224B - A kind of entrucking robot - Google Patents
A kind of entrucking robot Download PDFInfo
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- CN103964224B CN103964224B CN201410208285.8A CN201410208285A CN103964224B CN 103964224 B CN103964224 B CN 103964224B CN 201410208285 A CN201410208285 A CN 201410208285A CN 103964224 B CN103964224 B CN 103964224B
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- mechanical hand
- entrucking
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- guide rail
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- 230000006698 induction Effects 0.000 claims abstract description 20
- 239000000463 material Substances 0.000 claims description 12
- 239000000725 suspension Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 description 17
- 238000010276 construction Methods 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 210000000582 semen Anatomy 0.000 description 2
- 239000011343 solid material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000012856 packing Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
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Abstract
The invention discloses a kind of entrucking robot, it is characterised in that include a main body frame, in order to fixing each mechanism and other parts；One mechanical hand, in order to rotary grasping goods；One reciprocating mechanism, is connected to mechanical hand upper end, moves up and down in order to driving mechanical hands；One left/right movement device, is arranged on main body frame upper end, is connected to reciprocating mechanism by slide block, in order to driving mechanical hands side-to-side movement；One power packages, including control rotating servo motor that mechanical hand carries out rotating, control that reciprocating mechanism moves move up and down servomotor and control the left and right servomotor that left/right movement device moves；One induction controller, including cargo location induction apparatus, blanking induction apparatus and vehicle location induction apparatus, is separately mounted to the diverse location of main body frame, runs in order to control mechanical hand.Entrucking robot of the present invention realizes the unmanned of entrucking thus has saved manpower, and entrucking efficiency is greatly improved, and entrucking specification is neat.
Description
Technical field
The present invention relates to cargo handling technical field, particularly relate to a kind of entrucking robot.
Background technology
The circulation of solid material at present is divided into two kinds of forms: in bulk and packed.This form in bulk is in flourishing state
Family's Application comparison is extensive, and it is mainly used in the reasonable solid material of circulation, can save substantial amounts of packaging
The manpower expense of expense and handling, saves time, laborsaving, economical.Shortcoming is that limitation is stronger, it is necessary to be applicable to
The material that circulation is stronger, such as: Semen Tritici aestivi, Semen Maydis etc..Overland transport is also required that higher by it simultaneously, must
Must be van or Container Transport, it is necessary to have the equipment of handling bulk goods.
Packed this mode is relatively more flexible, and handling transport is more convenient.Shortcoming is intended to consume substantial amounts of packing charge
By the manpower expense with handling.Due to labour cost the most costly, so the bag cargo overwhelming majority adopts
Using pallet carried and transported, material palletizing mechanical piling on pallet, then with handling facilities handling such as fork trucks.
The disadvantage of tray loading transport is when production marketing, together counts product cost together with pallet, makes product
Product cost is increased.The in great shortage developed country of only higher or thick in human cost, stupid flexibe work(labour) power uses more,
The application of China's tray loading transport is less.
Along with fast development and the raising of people's living standard of China's economy, China the most progressively goes out in recent years
Showed the phenomenon of labor shortage, the most slightly, stupid flexibe work(labour) power the shortest.The most that depend merely on manpower
Situation about loading will progressively be replaced by loading mechanization, and China's handling operation develops into now, use most
It is product piling on pallet, again product is laid down from pallet during production marketing, entrucking.Though this mode
So still consume substantial amounts of manpower, but compare traditional full people's fixture vehicle, save time, laborsaving much, also than
The situation that developed country together sells together with pallet saves many expenses.So in current enterprise with good conditionsi of China
Industry, the most progressively adopts the most i.e.: product is piling on pallet, and fork truck is stacked in warehouse, product from
Entrucking is laid down on pallet.
In bag cargo entrucking field, the mode of conveyer that what most domestic was taked be made by: people
Work unloads product from pallet or lorry, puts into conveyer and is transported to above compartment, and workman is again in conveying
The other end of machine, the product that conveyer conveying is come is put in compartment.
Current domestic conveyer has: Mobile conveyer, accordion conveyor, van conveyer etc..
But whether any conveyer is the most convenient artificial mobile, all can not complete automatic loading, be required for artificial
Conveyer other end splicing, put.At the carloader that a kind of cost of cement industry appearance is high, but it
The most also it is a kind of portable conveyer, simply conveyer has been hung in above car, convenient conveying
Machine moves forward and backward up and down, than general conveyer in terms of entrucking further, but need also exist for artificial come
Operate, put, it is impossible to complete the automatization of entrucking, the most manually by the entrucking of conveying equipment, putting
Time owing to can not accurately put in place, so easily causing the most superimposed phenomenon between bag cargo bag and bag, give
Unload and cause certain difficulty.
Summary of the invention
It is an object of the invention to provide and be to propose a kind of entrucking robot, it is achieved that entrucking unmanned, complete
Automatically, thus having saved manpower, entrucking efficiency is greatly improved, entrucking more specification, neat, it is easier to after
Unload.
For achieving the above object, present invention employs following technical scheme:
A kind of entrucking robot, it is characterised in that include
One main body frame, in order to fixing each mechanism and other parts；
One mechanical hand, in order to rotary grasping goods；
One reciprocating mechanism, is connected to mechanical hand upper end, moves up and down in order to driving mechanical hands；
One left/right movement device, is arranged on main body frame upper end, is connected to reciprocating mechanism by slide block,
In order to driving mechanical hands side-to-side movement；
One power packages, including controlling rotating servo motor, the control reciprocating mechanism that mechanical hand carries out rotating
The moving up and down servomotor and control the left and right servomotor that moves of left/right movement device of movement；
One induction controller, including cargo location induction apparatus, blanking induction apparatus and vehicle location induction apparatus,
Travel switch, proximity switch, photoswitch and electromagnetic valve induction controller, be separately mounted to main body frame
Diverse location, in order to control mechanical hand run.
One of preferably, it being provided with crawl platform below described mechanical hand, this crawl platform one end is even
Being connected to slope conveyer belt, the described slope conveyer belt other end connects has material loading platform, described crawl platform to fix
It is connected to main body frame.
One of preferably, described mechanical hand connects has cylinder in order to control the folding of mechanical hand.
One of preferably, described left/right movement device includes moving left and right guide rail, described in move left and right
Being provided with slide block in guide rail, described slide block can horizontally slip in guide rail moving left and right.
One of preferably, described reciprocating mechanism includes moving up and down guide rail, described in move up and down
Guide rail is through slide block and is fixedly connected on described slide block.
One of preferably, it is positioned at the lorry both sides of required entrucking bottom described main body frame, also includes
Being arranged on the framework moving guide rail of lorry both sides, described main body frame two bottom sides is separately mounted to framework and moves
On guide rail, and described crawl platform and slope conveyer belt can be driven to move forward and backward along framework moving guide rail.
One of preferably, described main body frame is straddle truck rack and panel construction.
One of preferably, described induction controller specifically includes following various inductive switch:
First photoswitch is arranged on crawl platform foremost, after material comes, and the first photoswitch sense
Servomotor driving mechanical hands should be sent instructions to capture material to after material.
First travel switch is arranged on and moves left and right guide rail both sides, and effect is to control mechanical hand to lead to moving left and right
The range of rail both sides.
First proximity switch is arranged on and moves left and right guide rail side, and effect is that sensing controls mechanical hand back to zero.
Second proximity switch is arranged on each position of framework moving guide rail, and effect is to control entrucking robot
Operating range.
Second photoswitch sensing vehicle location, effect is to sense that storing cycle arrives correct position.
3rd proximity switch is installed on a robotic arm, and effect is that sensing controls mechanical hand back to zero.
4th proximity switch is arranged on the side moving up and down guide rail, and effect is that sensing controls mechanical hand back to zero.
Second travel switch is arranged on the both sides moving up and down guide rail, and effect is to control the maximum that mechanical hand is upper and lower
Stroke.
5th proximity switch is arranged on the side of framework moving guide rail, and effect is that sensing controls entrucking robot
Back to zero.
Have employed technical scheme, entrucking robot can realize the feeding speed of bag more than 1500 per hour
Degree, replaces current manual operation completely.By the most artificial car loading capacity, in the situation by conveying machinery
Under, everyone per tour 8 hourly average maximum entrucking 2400 bag calculating (entrucking workman is big due to its labor intensity,
Can not realize 8 hours not resting operating like a machine, it must be the batch (-type) combined with work of having a rest
Work), 6～12 can be replaced to tear open and to stamp workman (entrucking robot can realize continuous print and not rest for 24 hours
Operating).In current people workman shortage, in the case of labor cost increases day by day, its economic benefit and society
Benefit is huge.
Beneficial effect:
Entrucking robot of the present invention achieves the unmanned, full-automatic of entrucking, thus has saved manpower,
Entrucking efficiency is greatly improved, entrucking more specification, neat, it is easier to later unloads.
Accompanying drawing explanation
Fig. 1 is the structural representation of entrucking robot of the present invention；
Fig. 2 is the left view of entrucking robot of the present invention；
Wherein, 1, framework moving guide rail, 2, material loading platform；3, slope conveyer belt；4, platform is captured；5、
Mechanical hand；6, main body frame；7, power packages；8, cylinder；9, left/right movement device；10, slide block；
11, reciprocating mechanism, 12, travel switch, 13, proximity switch, 14, photoswitch.
Detailed description of the invention
Below in conjunction with accompanying drawing and a preferred embodiment, technical scheme is further described.
Embodiment:
As shown in Fig. 1～Fig. 2: a kind of entrucking robot disclosed in the present embodiment, including
One main body frame 6, in order to fixing each mechanism and other parts；
One mechanical hand 5, in order to rotary grasping goods；
One reciprocating mechanism 11, is connected to mechanical hand 5 upper end, moves up and down in order to driving mechanical hands 5；
One left/right movement device 9, is arranged on main body frame 6 upper end, is connected to move up and down by slide block 10
Mechanism 11, in order to driving mechanical hands 5 side-to-side movement；
One power packages 7, including controlling rotating servo motor that mechanical hand 5 carries out rotating, controlling to move up and down machine
What structure 11 moved moves up and down servomotor and controls the left and right servomotor that left/right movement device 9 moves；
One induction controller, including cargo location induction apparatus, blanking induction apparatus and vehicle location induction apparatus,
The induction controllers such as travel switch 12, proximity switch 13, photoswitch 14, electromagnetic valve, are separately mounted to main
The diverse location of body framework, runs in order to control mechanical hand.
Various inductive switch positions and effect are described as follows:
First photoswitch is arranged on crawl platform foremost, after material comes, and the first photoswitch sense
Servomotor driving mechanical hands should be sent instructions to capture material to after material.
First travel switch is arranged on and moves left and right guide rail both sides, and effect is to control mechanical hand to lead to moving left and right
The range of rail both sides.
First proximity switch is arranged on and moves left and right guide rail side, and effect is that sensing controls mechanical hand back to zero.
Second proximity switch is arranged on each position of framework moving guide rail, and effect is to control entrucking robot
Operating range.
Second photoswitch sensing vehicle location, effect is to sense that storing cycle arrives correct position.
3rd proximity switch is installed on a robotic arm, and effect is that sensing controls mechanical hand back to zero.
4th proximity switch is arranged on the side moving up and down guide rail, and effect is that sensing controls mechanical hand back to zero.
Second travel switch is arranged on the both sides moving up and down guide rail, and effect is to control the maximum that mechanical hand is upper and lower
Stroke.
5th proximity switch is arranged on the side of framework moving guide rail, and effect is that sensing controls entrucking robot
Back to zero.
One of preferably, it is provided with crawl platform 4, this crawl platform 4 one below described mechanical hand 5
End connection has slope conveyer belt 3, and described slope conveyer belt 3 other end connects material loading platform 2, described crawl
Platform 4 is fixedly connected on main body frame 6.
One of preferably, described mechanical hand 5 connects has cylinder in order to control the folding of mechanical hand 5.
One of preferably, described left/right movement device 9 includes moving left and right guide rail, and described left and right is moved
Being provided with slide block 10 in dynamic guide rail 9, described slide block 10 can horizontally slip in guide rail moving left and right.
One of preferably, described reciprocating mechanism 11 includes moving up and down guide rail, described on move down
Dynamic guide rail through slide block 10 and is fixedly connected on described slide block 10.
One of preferably, it is positioned at the lorry both sides of required entrucking bottom described main body frame 6, also wraps
Including the framework moving guide rail 1 being arranged on lorry both sides, described main body frame 6 two bottom sides is separately mounted to framework
On moving guide rail 1, and described crawl platform 4 and slope conveyer belt 3 can be driven to enter along framework moving guide rail 1
Row is movable.
One of preferably, described main body frame 6 is straddle truck rack and panel construction.
It is pointed out that as described above is only in order to explain the preferred embodiments of the invention, be not intended to
According to this present invention is made any restriction in form, therefore all have made under identical spirit relevant
Any modification of the present invention or change, all must be included in the category that the invention is intended to protection.
Claims (6)
1. an entrucking robot, it is characterised in that include
One main body frame, in order to fixing each mechanism and other parts；
One mechanical hand, in order to rotary grasping goods；
One reciprocating mechanism, is connected to mechanical hand upper end, moves up and down in order to driving mechanical hands；
One left/right movement device, is arranged on main body frame upper end, is connected to reciprocating mechanism by slide block,
In order to driving mechanical hands side-to-side movement；
One power packages, including controlling rotating servo motor, the control reciprocating mechanism that mechanical hand carries out rotating
The moving up and down servomotor and control the left and right servomotor that moves of left/right movement device of movement；
One induction controller, including cargo location induction apparatus, blanking induction apparatus and vehicle location induction apparatus,
Travel switch, proximity switch, photoswitch and electromagnetic valve induction controller, be separately mounted to main body frame
Diverse location, in order to control mechanical hand run；
Being provided with crawl platform below described mechanical hand, this crawl platform one end connects slope conveyer belt, institute
Stating slope conveyer belt other end connection has material loading platform, described crawl platform to be fixedly connected on main body frame.
Entrucking robot the most according to claim 1, it is characterised in that described mechanical hand connects gas
Cylinder is in order to control the folding of mechanical hand.
Entrucking robot the most according to claim 1, it is characterised in that described left/right movement device bag
Include and move left and right guide rail, described in move left and right guide rail in be provided with slide block, described slide block can be led moving left and right
Horizontally slip in rail.
Entrucking robot the most according to claim 3, it is characterised in that described reciprocating mechanism bag
Include and move up and down guide rail, described in move up and down guide rail and through slide block and be fixedly connected on described slide block.
Entrucking robot the most according to claim 1, it is characterised in that position bottom described main body frame
In the lorry both sides of required entrucking, also include the framework moving guide rail being arranged on lorry both sides, described body frame
Frame two bottom sides is separately mounted on framework moving guide rail, and described crawl can be driven to put down along framework moving guide rail
Platform and slope conveyer belt move forward and backward.
Entrucking robot the most according to claim 5, it is characterised in that described main body frame is gantry
Nose suspension type structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410208285.8A CN103964224B (en) | 2014-05-16 | 2014-05-16 | A kind of entrucking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410208285.8A CN103964224B (en) | 2014-05-16 | 2014-05-16 | A kind of entrucking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103964224A CN103964224A (en) | 2014-08-06 |
| CN103964224B true CN103964224B (en) | 2016-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410208285.8A Expired - Fee Related CN103964224B (en) | 2014-05-16 | 2014-05-16 | A kind of entrucking robot |
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| CN104310083B (en) * | 2014-09-16 | 2017-09-05 | 深圳市步先包装机械有限公司 | A kind of Full automatic loading method |
| CN104590925B (en) * | 2014-12-11 | 2016-08-17 | 云南烟叶复烤有限责任公司麒麟复烤厂 | A kind of sack self-discharging truck |
| CN104773533A (en) * | 2015-03-27 | 2015-07-15 | 王超 | Automatic loading machine |
| CN104773531B (en) * | 2015-04-08 | 2017-07-11 | 青岛德兴自动化设备有限公司 | Container entrucking robot |
| CN105417149B (en) * | 2015-12-28 | 2017-09-22 | 青岛汇智智能系统工程有限公司 | A kind of framework robot |
| CN105692249B (en) * | 2016-01-18 | 2018-06-29 | 长沙赫雷克勒智能装备有限公司 | A kind of bagged cement intelligence loading system and its loading method |
| CN106429483A (en) * | 2016-12-09 | 2017-02-22 | 芜湖哈特机器人产业技术研究院有限公司 | Automatic stacking and truck-loading system and truck-loading method thereof |
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| CN108974984A (en) * | 2018-07-27 | 2018-12-11 | 重庆瑞芝电子商务有限公司 | Movement system for commodity |
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| CN111186696A (en) * | 2020-02-14 | 2020-05-22 | 无锡职业技术学院 | Multi-dimensional multifunctional guide rail robot based on web page |
| CN111924575A (en) * | 2020-09-02 | 2020-11-13 | 湖北三江航天机电设备有限责任公司 | Unmanned intelligent car loader |
| CN112209097A (en) * | 2020-10-20 | 2021-01-12 | 江苏集萃孵鹰科技产业发展有限公司 | Automatic change handling equipment |
| CN112478824A (en) * | 2020-12-07 | 2021-03-12 | 龙安 | Loading system of cement |
| CN114136256B (en) * | 2021-11-30 | 2023-08-11 | 江苏旭美特环保科技有限公司 | Bury formula travel sensor structure of unmanned machine of sweeping floor of intelligence |
| CN115709910B (en) * | 2022-12-07 | 2023-09-15 | 江门市振达机械制造有限公司 | Card loading system and card loading method |
| CN116281261B (en) * | 2023-05-18 | 2023-09-26 | 眉山金豆智能科技有限公司 | Full-automatic cargo loader and control method thereof |
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| CN102225719B (en) * | 2011-04-07 | 2013-04-24 | 信阳雄狮建材设备制造有限公司 | Automatic adobe stacking device |
| CN203806728U (en) * | 2014-05-16 | 2014-09-03 | 青岛德和丰科贸有限公司 | Loading robot |
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2014
- 2014-05-16 CN CN201410208285.8A patent/CN103964224B/en not_active Expired - Fee Related
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