CN104828576B - Counter handler - Google Patents
Counter handler Download PDFInfo
- Publication number
- CN104828576B CN104828576B CN201510175321.XA CN201510175321A CN104828576B CN 104828576 B CN104828576 B CN 104828576B CN 201510175321 A CN201510175321 A CN 201510175321A CN 104828576 B CN104828576 B CN 104828576B
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- China
- Prior art keywords
- goods
- counter
- crawl robot
- conveyer belt
- control device
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Classifications
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of counter handler, including control device, goods conveyer belt, detent mechanism, crawl robot and crawl robot moving mechanism, goods conveyer belt, detent mechanism, crawl robot and crawl robot moving mechanism are electrically connected with the control device, capture the fixture that robot is provided with being moved on the goods conveyer belt；Detent mechanism includes that the goods sensing device further being arranged on goods conveyer belt and the range unit on the fixture, goods sensing device further and range unit are electrically connected with the control device.Above-mentioned counter handler drives crawl robot to enter into inside counter by the crawl robot moving mechanism, goods sensing device senses are to rear and send this information to control device, control device control crawl robot crawl goods, and the positional distance in counter is measured according to range unit, place goods onto the position of needs；Or the contrary flow process of installation is unloaded.
Description
Technical field
A kind of the present invention relates to freight traffic technique field, more particularly to counter handler.
Background technology
With the progress of society, the development of enterprise is also more and more with turnover to the transport of product with container car, but
Transport is also more and more with the handling goods in circular flow.Not only work force density is big for traditional artificial handling goods, working strength
Greatly, low production efficiency, high cost, recruitment are difficult, and management is difficult, but also greatly restriction and the development and expansion for affecting its scope of the enterprise
Greatly, indivedual dangerous goods, irritant abnormal smells from the patient article or there is dust article and be more not suitable with a dead lift.Thus it is existing artificial
The mode of loading-unloading vehicle is difficult to meet demand now in the enterprise for going from strength to strength.
Content of the invention
This is based on, the invention reside in providing a kind of counter handler, which can overcome the deficiencies in the prior art, realize goods
The quick despatch of thing, saves human input, improves work efficiency and safety.
Its technical scheme is as follows：
A kind of counter handler, including control device, goods conveyer belt, detent mechanism, crawl robot and gripper
Qi Ren travel mechanisms, the goods conveyer belt, detent mechanism, crawl robot and crawl robot moving mechanism with the control
Device processed is electrically connected with, and the crawl robot is provided with the fixture being moved on the goods conveyer belt；The positioning
Mechanism includes the goods sensing device further being arranged on the goods conveyer belt and the range unit on the fixture, the goods
Thing sensing device further and the range unit are electrically connected with the control device.
Below further technical scheme is illustrated：
Wherein in one embodiment, the crawl robot moving mechanism includes slide unit, guide rail and drive mechanism, described
Crawl robot is fixed on the slide unit, and the slide unit is fixedly connected with the guide rail, the drive mechanism and the guide rail
Connect, and the drive mechanism is connected with the control device.
Wherein in one embodiment, the length of the slide unit is longer than the length for being loaded counter.
Wherein in one embodiment, the goods sensing device further is photoelectric sensor, and the photoelectric sensor is located at institute
State in the range of activity of fixture, the range unit is laser range sensor.
Wherein in one embodiment, the detent mechanism is vision positioning device, and the vision positioning device is arranged at
On the fixture.
Wherein in one embodiment, the goods conveyer belt includes at least two conveyer belts, adjacent two conveyings
The connected mode of band connects for side or docks.
Wherein in one embodiment, which also includes illuminator, and the illuminator is fixed on the fixture.
Wherein in one embodiment, described crawl robot include mechanical arm, the mechanical arm include six sections according to
The joint arm of secondary flexible connection.
Below the principle of preceding solution, effect etc. are illustrated：
Above-mentioned counter handler drives crawl robot to enter in counter by the crawl robot moving mechanism
Portion, reaching needs in the region of handling goods, the position for enabling crawl robot after crawl goods and being moved to need
Put；The goods is used for conveyer belt in conveying articles, and the conveying direction of goods conveyer belt can be adjusted according to the actual requirements, and which can be by goods
Goods in cabinet is delivered to outside counter, and also the goods outside counter can be delivered in counter；The goods sensing of the detent mechanism
Device can sense the position of the goods on goods conveyer belt, and after cargo transport is to certain position, goods sensing device senses are arrived
Afterwards and send this information to control device, control device control crawl robot crawl goods, and measured according to range unit
Positional distance in counter, places goods onto the position of needs；Or the crawl robot is measured according to range unit
Output control crawl robot is moved to counter and captures corresponding goods, is placed into again on the goods conveyer belt afterwards, is led to
Cross goods conveyer belt and be transported to destination locations.
The handling goods that full rotation type be can achieve by the counter handler, quickly by casing, tank body, parcel or bucket
Shape goods fills cabinet or unloading by specification, greatly reduces manual labor, reduces Enterprise Integrated cost, improves work efficiency and peace
Overall coefficient.
Description of the drawings
Fig. 1 is the structural representation of the counter handler described in the embodiment of the present invention；
Fig. 2 is the side view of the counter handler described in the embodiment of the present invention.
Description of reference numerals：
10th, goods conveyer belt, 12, goods sensing device further, 20, crawl robot, 22, fixture, 24, range unit, 26, section
Arm, 28, illuminator, 30, crawl robot moving mechanism, 32, slide unit, 34, guide rail, 36, drive mechanism, 100, goods,
200th, counter.
Specific embodiment
Below embodiments of the invention are described in detail：
As shown in Figures 1 and 2, a kind of counter handler, including control device, goods conveyer belt 10, detent mechanism, grabs
Take robot 20 and crawl robot moving mechanism 30, the goods conveyer belt 10, detent mechanism, crawl robot 20 and crawl
Robot moving mechanism 30 is electrically connected with the control device, and the crawl robot 20 is provided with being moved to described
Fixture 22 on goods conveyer belt 10；The detent mechanism includes the goods sensing device further being arranged on the goods conveyer belt 10
12 and the range unit 24 on the fixture 22, the goods sensing device further 12 and the range unit 24 with the control
Device processed is electrically connected with.
The counter handler drives crawl robot 20 to enter arrival by the crawl robot moving mechanism 30
Inside cabinet 200, reach need in the region of handling goods 100, enable crawl robot 20 crawl goods 100 after and by its
It is moved to the position of needs；The goods conveyer belt 10 is used for conveying articles 100, and the conveying direction of goods conveyer belt 10 can basis
Actual demand is adjusted, and which can be delivered to the goods 100 in counter 200 outside counter 200, also can be by the goods 100 outside counter 200
It is delivered in counter 200；The goods sensing device further 12 of the detent mechanism can sense the position of the goods 100 on goods conveyer belt 10
Put, after goods 100 is transported to certain position, goods sensing device further 12 is sensed rear and sends this information to control device,
Control device control crawl robot 20 crawl goods 100, and the positional distance in counter 200 is measured according to range unit 24,
The position that goods 100 is placed into needs.
The counter handler first passes through the crawl robot moving mechanism 30 when being applied to unload, equally and drives
Crawl robot 20 is reached and needs landing, then measures the distance of the goods 100 for needing crawl by range unit 24, then is passed through
The gripping goods of fixture 22 of crawl robot 20, and goods is positioned on goods conveyer belt, it is delivered to destination.So heavy
Multiple, complete the unloading of all goods.
As shown in Fig. 2 the crawl robot moving mechanism 30 includes slide unit 32, guide rail 34 and drive mechanism 36, described
Crawl robot 20 is fixed on the slide unit 32, and the slide unit 32 is fixedly connected with the guide rail 34, the drive mechanism 36
It is connected with the guide rail 34, and the drive mechanism 36 is connected with the control device.Wherein, the length of the slide unit 32 is longer than
The length of the counter 200 being loaded；Slide unit 32 can extend into the bosom of the counter 200, can be to goods in whole counter 200
Thing 100 is operated.When 32 part of slide unit is extend in counter 200, another part is located at outside counter 200, preferably in counter
Basis outside 200 is reinforced, it is ensured that slide unit 32 can be stablized, and crawl robot 20 is stably operated.The guide rail
34 are preferably line slideway, and the drive mechanism 36 is preferably linear electric motors, and the line slideway is fixed on the slide unit 32
Lower section, the quantity of line slideway can select to arrange according to the length of slide unit 21；The linear electric motors drive the line slideway to enter
Row way moving, the crawl robot 20 controlled on slide unit 32 are in different positions.
The goods sensing device further 12 be photoelectric sensor, the photoelectric sensor 12 located at the fixture 22 movable model
In enclosing, the range unit 24 is laser range sensor.The photoelectric sensor 12 is installed on the crawl robot 20
Crawl in the range of, goods 100 by the cargo transfer band 10 transmit to the photoelectric sensor when, photoelectric sensor
By goods triggering now, the control device is sent this information to.Afterwards, the control device is then to the range unit
24 send the signal of telecommunication, and control range unit measures the position for this time needing arrangement of goods 100, and control device control gripper
The goods 100 is placed into the position by device people 20, completes the dress cabinet of a goods 100.
Preferably, the detent mechanism may be replaced by vision positioning device, vision positioning device and the control
Device is electrically connected with, and vision positioning device is arranged on the fixture 22.The image mechanism of vision positioning device can be captured
The positional information of the goods 100 on goods conveyer belt 10, when which detects working range of the goods 100 in crawl robot 20
When interior, control device controls to capture 20 action of robot again, and vision positioning device is made according to the room information of counter 200
Goods 100 is placed into the position of needs for crawl robot 20.The vision positioning device can be 3D vision positioning devices or
Other vision positioning devices.
The crawl robot 20 includes that mechanical arm, the mechanical arm include the joint arm that six sections are flexibly connected successively
26.The freely activity of each joint arm 26 by the control device of prior art, can be realized, the flexible of crawl goods 100 is improved
Degree.
The counter handler also includes that illuminator 28, the illuminator 28 are fixed on the fixture 22.When
When crawl robot 20 extend into work in counter 200, especially in counter penetralia, illuminator 28 can provide light
Source, it is ensured that the range unit 24 or vision positioning device in detent mechanism being capable of normal work.
In the present embodiment, the goods conveyer belt 10 includes at least two conveyer belts, by adjacent two conveyer belts
Connection, realizes the transport of goods.It is preferred that the connected mode of adjacent two conveyer belts connects for side or docks.
Each technical characteristic of embodiment described above arbitrarily can be combined, for making description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but simultaneously
Therefore can not be construed as limiting the scope of the patent.It should be pointed out that for one of ordinary skill in the art
Say, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (7)
1. a kind of counter handler, it is characterised in that including control device, goods conveyer belt, detent mechanism, captures robot
And crawl robot moving mechanism, the goods conveyer belt, detent mechanism, crawl robot and crawl robot moving mechanism are equal
It is electrically connected with the control device, the crawl robot is provided with the fixture being moved on the goods conveyer belt；
The detent mechanism includes the goods sensing device further being arranged on the goods conveyer belt and the dress of the range finding on the fixture
Put, the goods sensing device further and the range unit are electrically connected with the control device；Wherein, the crawl robot
Travel mechanism includes that slide unit, guide rail and drive mechanism, the crawl robot are fixed on the slide unit, the slide unit with described
Guide rail is fixedly connected, and the drive mechanism is connected with the guide rail, and the drive mechanism is connected with the control device.
2. counter handler according to claim 1, it is characterised in that the length of the slide unit is longer than and is loaded counter
Length.
3. counter handler according to claim 1, it is characterised in that the goods sensing device further is photoelectric sensing
Device, in the range of activity of the fixture, the range unit is laser range sensor to the photoelectric sensor.
4. counter handler according to claim 1, it is characterised in that the detent mechanism is vision positioning device,
The vision positioning device is arranged on the fixture.
5. counter handler according to claim 1, it is characterised in that the goods conveyer belt include at least two defeated
The connected mode of band, adjacent two conveyer belts is sent to connect for side or dock.
6. counter handler according to claim 1, it is characterised in which also includes illuminator, the illumination dress
Put and be fixed on the fixture.
7. the counter handler according to claim 1 to 6 any one, it is characterised in that crawl robot bag
Mechanical arm is included, the mechanical arm includes the joint arm that six sections are flexibly connected successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510175321.XA CN104828576B (en) | 2015-04-14 | 2015-04-14 | Counter handler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510175321.XA CN104828576B (en) | 2015-04-14 | 2015-04-14 | Counter handler |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104828576A CN104828576A (en) | 2015-08-12 |
| CN104828576B true CN104828576B (en) | 2017-03-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510175321.XA Active CN104828576B (en) | 2015-04-14 | 2015-04-14 | Counter handler |
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| CN (1) | CN104828576B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106167179B (en) * | 2016-07-20 | 2019-01-22 | 李春海 | Movable type overturning carloader |
| CN108657838A (en) * | 2017-03-31 | 2018-10-16 | 深圳市金奥博科技股份有限公司 | loading method and loading system |
| CN108032315A (en) * | 2017-12-06 | 2018-05-15 | 珠海佳影科技发展有限公司 | Automatic picking robot control system |
| CN114852728B (en) * | 2022-06-20 | 2024-02-09 | 西安威仁自动化科技有限公司 | Intelligent van-type vehicle loading and unloading robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2836136B3 (en) * | 2002-02-21 | 2004-04-16 | Deutsche Post Ag | LOADING AND UNLOADING DEVICE OF TRANSPORT CONTAINERS |
| CN201644408U (en) * | 2010-01-11 | 2010-11-24 | 张天微 | Automatic apple sorter |
| CN202296067U (en) * | 2011-09-21 | 2012-07-04 | 华北电网有限公司计量中心 | Warehouse in/out conveying system of turnover box stereoscopic warehouse |
| CN202412277U (en) * | 2012-02-01 | 2012-09-05 | 昆山华恒焊接股份有限公司 | Conveying robot system |
| CN103779244A (en) * | 2014-01-21 | 2014-05-07 | 谢创 | Automatic production line for chip on board bonding |
| CN204777750U (en) * | 2015-04-14 | 2015-11-18 | 广州达意隆包装机械股份有限公司 | Packing cupboard handling device |
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2015
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2836136B3 (en) * | 2002-02-21 | 2004-04-16 | Deutsche Post Ag | LOADING AND UNLOADING DEVICE OF TRANSPORT CONTAINERS |
| CN201644408U (en) * | 2010-01-11 | 2010-11-24 | 张天微 | Automatic apple sorter |
| CN202296067U (en) * | 2011-09-21 | 2012-07-04 | 华北电网有限公司计量中心 | Warehouse in/out conveying system of turnover box stereoscopic warehouse |
| CN202412277U (en) * | 2012-02-01 | 2012-09-05 | 昆山华恒焊接股份有限公司 | Conveying robot system |
| CN103779244A (en) * | 2014-01-21 | 2014-05-07 | 谢创 | Automatic production line for chip on board bonding |
| CN204777750U (en) * | 2015-04-14 | 2015-11-18 | 广州达意隆包装机械股份有限公司 | Packing cupboard handling device |
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| Publication number | Publication date |
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| CN104828576A (en) | 2015-08-12 |
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