CN105502020A - Intelligent loading and unloading robot - Google Patents
Intelligent loading and unloading robot Download PDFInfo
- Publication number
- CN105502020A CN105502020A CN201510998000.XA CN201510998000A CN105502020A CN 105502020 A CN105502020 A CN 105502020A CN 201510998000 A CN201510998000 A CN 201510998000A CN 105502020 A CN105502020 A CN 105502020A
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- CN
- China
- Prior art keywords
- turret
- box
- unloading vehicle
- intelligent loading
- shaped object
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- 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
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/0223—Heavy
-
- 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
- B65G2201/0258—Trays, totes or bins
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an intelligent loading and unloading robot. The intelligent loading and unloading robot comprises a gantry type walking trolley (1), a lifting machine (2), a rotary driving mechanism (3), a rotating frame (4), an inclined pushing mechanism (8) and loading and unloading mechanisms (10); the gantry type walking trolley (1) can stride over containers of a goods van and is convenient to operate; the inclined pushing mechanism (8) pushes box-shaped articles to be attached to the rotating frame (4) and rotate along with the rotating frame (4), gaps are generated between the box-shaped articles after the box-shaped articles are inclined, and therefore mechanical arms (7) of the loading and unloading mechanisms (10) can insert into the gaps and clamp the box-shaped articles on the rotating frame (4) conveniently. According to the invention, the vehicle-mounted box-shaped articles can be effectively and mechanically clamped and can be efficiently and automatically loaded and unloaded.
Description
Technical field
The present invention relates to a kind of handling robot, particularly relate to a kind of box-shaped object loading-unloading vehicle robot.
Background technology
In box-shaped object loading-unloading vehicle process, conveniently transport and save transport space, usually space is not had between box-shaped object in car, cannot directly load and unload with fork truck and conventional manipulator, can only by artificial or manually with fork truck, crane coordinate loading-unloading vehicle, labour intensity is large, efficiency is low, cannot adapt to the requirement of material flows automation.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of intelligent loading-unloading vehicle robot of box-shaped object lift truck, this robot coordinates box-shaped object to tilt by cant mechanism and rotating mechanism, make to occur gap between box-shaped object, then stretch into gap snatch box-shaped object by handing device.
Technical scheme of the present invention is: a kind of intelligent loading-unloading vehicle robot, comprise planer-type and walk driving, elevator, turret, rotating drive mechanism, cant mechanism, handing device, described planer-type is walked driving and can be moved forward and backward along two closed slides, described elevator is arranged on planer-type and walks in driving, up-and-down movement in the door opening that planer-type walks driving, described turret is rotatably arranged on elevator, described rotating drive mechanism is arranged on elevator, drive turret around rotation center rotating, described cant mechanism is fixedly mounted on turret, cant mechanism acts on the upper surface of box-shaped object, to be attached on turret for promoting box-shaped object and to rotate with turret, described handing device is arranged on turret, handing device comprises act arm mechanism, mechanical arm and telescoping mechanism, lift arm mechanism driving machine mechanical arm along turret up-and-down movement, box-shaped object is clamped on turret by telescoping mechanism driving machine mechanical arm.
Handing device of the present invention can be multiple, and each handing device all can carry an object.
In order to prevent box-shaped object from rotation process and between turret, relative motion occurring, cause cant mechanism thrust unstable, as improvement of the present invention, the center of turn of described turret is positioned on the box-shaped object binding face of turret.
In order to reduce the extruding of cant mechanism to box-shaped object, as improvement of the present invention, described cant mechanism comprises cylinder and pushing block, and pushing block is rotatably arranged on the end of cylinder piston rod; In order to increase the friction force between pushing block and box-shaped object surface, as the further improvement of this programme, the bottom surface of described pushing block offers serrate slot; Pushing block preferred rubber block.
Described rotating drive mechanism can be cylinder, also can be screw putter, preferred cylinder.
Intelligent loading-unloading vehicle robot of the present invention is such work, during entrucking, planer-type walks driving and the elevator motion that is arranged on away in driving to cargo location to be installed, the act arm mechanism driving machine mechanical arm of handing device moves downward and makes box-shaped object be clipped between mechanical arm and turret, box-shaped object is clamped on turret by telescoping mechanism driving machine mechanical arm, turret rotates, make box-shaped object inclination certain angle, leaning angle is advisable between 10o ~ 20o, planer-type walks driving and the elevator motion that is arranged on away in driving to lorry delivery location, telescoping mechanism driving machine mechanical arm unclamps box-shaped object, lift arm mechanism driving machine mechanical arm rise and leave box-shaped object, effect shipment, when unloading, planer-type walks driving and the elevator motion that is arranged on away in driving to the cargo location to be unloaded on lorry, sees Fig. 9, then cant mechanism urges box-shaped object to be attached on turret and to rotate with turret, and occur gap after box-shaped object tilts and between other box-shaped object, see Figure 10, box-shaped object leaning angle is advisable between 10o ~ 20o, then the act arm mechanism driving machine mechanical arm of handing device moves downward along gap and makes box-shaped object be clipped between mechanical arm and turret, and box-shaped object is clamped on turret by telescoping mechanism driving machine mechanical arm, sees Figure 11, last planer-type walks driving and the elevator motion that is arranged on away in driving to discharge location, and telescoping mechanism driving machine mechanical arm unclamps box-shaped object, and act arm mechanism driving machine mechanical arm rises and leaves box-shaped object, completes unloading.
Intelligent loading-unloading vehicle robot of the present invention comprises planer-type and walks driving, elevator, turret, rotating drive mechanism, cant mechanism, handing device, the present invention walks to drive a vehicle to arrive with the dipping and heaving of elevator the loading position of lorry by planer-type, planer-type walks driving can stride across wagon cargo box, operation is quick and convenient, takes up room little; The present invention to be attached on turret by cant mechanism urges box-shaped object and to rotate with turret, gap is there is after box-shaped object tilts and between other box-shaped object, handing device inserts from gap and is clamped in turret by box-shaped object, efficiently solve the mechanical grip problem of vehicle-mounted box-shaped object, achieve the automatic loading and unloading of vehicle-mounted box-shaped object; Box-shaped Articles transfer process of the present invention keeps heeling condition, and compare the Articles transfer under plumbness, required Clamping force is less, is conducive to the external packing protecting goods and goods; During entrucking, handing device unclamps the box-shaped object of heeling condition, and box-shaped object is ajusted under gravity automatically, can be close together between goods, ensures loading quality; In addition, the center of turn of turret is positioned on the box-shaped object binding face of turret, is conducive to the light box-shaped object that reliably promotes of cant mechanism and tilts; The handing device of robot of the present invention can be multiple, and once can load and unload multiple box-shaped object, handling efficiency is high.
Accompanying drawing explanation
Fig. 1 is the constructional drawing of a kind of intelligent loading-unloading vehicle robotic embodiment of the present invention.
Fig. 2 is the left view of Fig. 1.
Fig. 3 is the constructional drawing that in Fig. 1, planer-type walks driving.
Fig. 4 is the left view of Fig. 3.
Fig. 5 is the left view of Fig. 4.
Fig. 6 is the constructional drawing of elevator in Fig. 1.
Fig. 7 is the left view of Fig. 6.
The constructional drawing of Tu8Shi Tu1Zhong cant mechanism.
Fig. 9 is that the present invention's intelligence loading-unloading vehicle robot arrives the schematic diagram that article position treated by lorry.
Figure 10 is the schematic diagram of the present invention's intelligence loading-unloading vehicle robot upset object to obliquity.
Figure 11 is the schematic diagram of the present invention's intelligence loading-unloading vehicle robotic gripper object.
In figure, each Reference numeral is: 1, planer-type walks driving; 2, elevator; 3, rotating drive mechanism; 4, turret; 5, arm mechanism is lifted; 6, telescoping mechanism; 7, mechanical arm; 8, cylinder; 9, guide rail; 10, handing device; 21, portal frame; 22, driven walking wheel; 23, motor; 24, active walking wheel; 25, driven walking wheel; 26, motor; 27, active walking wheel; 31, bay-lift; 32, chain lift system; 35, pushing block; 36, cylinder.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described, but embodiment is not construed as limiting the invention.
Fig. 1 to Fig. 8 shows the embodiment of a kind of intelligent loading-unloading vehicle robot of the present invention, and this intelligent loading-unloading vehicle robot comprises planer-type and walks driving 1, elevator 2, turret 4, cylinder 3, cant mechanism 8 and handing device 10.
See Fig. 1 and Fig. 2, planer-type is walked driving 1 and can be moved forward and backward along two closed slides 9; See Fig. 3 to Fig. 5, planer-type is walked driving 1 and is comprised portal frame 21, the right side of portal frame 21 is supported by a driven walking wheel 22 and an active walking wheel 24, initiatively walking wheel 24 is driven by motor 23, the left side of portal frame 21 is supported by a driven walking wheel 25 and an active walking wheel 27, and initiatively walking wheel 27 is driven by motor 26.
See Fig. 1 and Fig. 2, elevator 2 is arranged on planer-type and walks in driving 1, can in the door opening that planer-type walks driving 1 up-and-down movement; See Fig. 6 and Fig. 7, elevator 2 comprises bay-lift 31 and chain lift system 32.
See Fig. 1, turret 4 is rotatably arranged on the bay-lift 31 of elevator 2, turret 4 is provided with the binding face A of box-shaped object, and the center of turn B of turret 4 is positioned on box-shaped object binding face A; Turret 4 is driven by rotating drive mechanism, and rotating drive mechanism is cylinder 3.
See Fig. 1, cant mechanism 8 is fixedly mounted on turret 4, and cant mechanism 8 acts on the upper surface of box-shaped object, to be fitted on turret 4 for promoting box-shaped object and to rotate with turret 4; See Fig. 8, cant mechanism 8 comprises cylinder 36 and pushing block 35, and pushing block 35 is rotatably arranged on the end of cylinder 36 piston rod, and the bottom surface of pushing block 35 offers serrate slot, and pushing block selects elastomeric material.
See Fig. 1, handing device 10 comprises lifts arm mechanism 5, mechanical arm 7 and telescoping mechanism 6, lifting arm mechanism 5 is arranged on turret 4, and lift arm mechanism 5 driving machine mechanical arm 7 along turret 4 up-and-down movement, box-shaped object is clamped on turret 4 by telescoping mechanism 6 driving machine mechanical arm 7; Handing device 10 in the present embodiment has three, and intelligence handling robot can load and unload three objects simultaneously.
Claims (9)
1. an intelligent loading-unloading vehicle robot, is characterized in that: described intelligent loading-unloading vehicle robot comprises planer-type and walks driving, elevator, turret, rotating drive mechanism, cant mechanism, handing device; Described planer-type is walked driving and can be moved forward and backward along two closed slides; Described elevator is arranged on planer-type and walks in driving, up-and-down movement in the door opening that planer-type walks driving; Described turret is rotatably arranged on elevator; Described rotating drive mechanism is arranged on elevator, drives turret around rotation center rotating; Described cant mechanism is fixedly mounted on turret, and cant mechanism acts on the upper surface of box-shaped object, to be attached on turret for promoting box-shaped object and to rotate with turret; Described handing device is arranged on turret, and handing device comprises lifts arm mechanism, mechanical arm and telescoping mechanism, and lift arm mechanism driving machine mechanical arm along turret up-and-down movement, box-shaped object is clamped on turret by telescoping mechanism driving machine mechanical arm.
2. intelligent loading-unloading vehicle robot according to claim 1, is characterized in that: described handing device is multiple.
3. intelligent loading-unloading vehicle robot according to claim 1, is characterized in that: the center of turn of described turret is positioned on the box-shaped object binding face of turret.
4. the intelligent loading-unloading vehicle robot according to claim 1 or 2 or 3, is characterized in that: described cant mechanism comprises cylinder and pushing block, and pushing block is rotatably arranged on the end of cylinder piston rod.
5. intelligent loading-unloading vehicle robot according to claim 4, is characterized in that: described pushing block bottom surface offers serrate slot.
6. the intelligent loading-unloading vehicle robot according to claim 1 or 2 or 3, it is characterized in that: described planer-type is walked driving and comprised portal frame, the right side of portal frame is by a driven walking wheel and an initiatively walking wheel support, initiatively walking wheel is driven by motor, the left side of portal frame is also by a driven walking wheel and an initiatively walking wheel support, and initiatively walking wheel is driven by motor.
7. the intelligent loading-unloading vehicle robot according to claim 1 or 2 or 3, is characterized in that: described rotating drive mechanism is cylinder.
8. the intelligent loading-unloading vehicle robot according to claim 1 or 2 or 3, is characterized in that: described rotating drive mechanism is screw putter.
9. intelligent loading-unloading vehicle robot according to claim 6, is characterized in that: described rotating drive mechanism is cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510998000.XA CN105502020A (en) | 2015-12-28 | 2015-12-28 | Intelligent loading and unloading robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510998000.XA CN105502020A (en) | 2015-12-28 | 2015-12-28 | Intelligent loading and unloading robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105502020A true CN105502020A (en) | 2016-04-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510998000.XA Pending CN105502020A (en) | 2015-12-28 | 2015-12-28 | Intelligent loading and unloading robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105502020A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110482262A (en) * | 2018-12-12 | 2019-11-22 | 广东天酿智能装备有限公司 | Handling facilities and handling method |
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|---|---|---|---|---|
| CN2825589Y (en) * | 2005-08-14 | 2006-10-11 | 葛小方 | Fork lift |
| US20070280812A1 (en) * | 2006-05-17 | 2007-12-06 | Axium Inc. | Tool and method for mixed palletizing/depalletizing |
| CN201288047Y (en) * | 2008-09-16 | 2009-08-12 | 云南昆船设计研究院 | Turnable material box and cover-opened automatic carrier |
| CN103395638A (en) * | 2013-07-26 | 2013-11-20 | 哈尔滨博实自动化股份有限公司 | Single-robot simple automatic loading unit |
| CN203922128U (en) * | 2014-03-31 | 2014-11-05 | 湖南省烟草公司怀化市公司 | Cigarette loads and unloads safe and efficient bont |
| CN204823328U (en) * | 2015-06-29 | 2015-12-02 | 昆明万锐鹍鹏机电工程技术有限公司 | Tobacco bale loading and unloading car system |
-
2015
- 2015-12-28 CN CN201510998000.XA patent/CN105502020A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2825589Y (en) * | 2005-08-14 | 2006-10-11 | 葛小方 | Fork lift |
| US20070280812A1 (en) * | 2006-05-17 | 2007-12-06 | Axium Inc. | Tool and method for mixed palletizing/depalletizing |
| CN201288047Y (en) * | 2008-09-16 | 2009-08-12 | 云南昆船设计研究院 | Turnable material box and cover-opened automatic carrier |
| CN103395638A (en) * | 2013-07-26 | 2013-11-20 | 哈尔滨博实自动化股份有限公司 | Single-robot simple automatic loading unit |
| CN203922128U (en) * | 2014-03-31 | 2014-11-05 | 湖南省烟草公司怀化市公司 | Cigarette loads and unloads safe and efficient bont |
| CN204823328U (en) * | 2015-06-29 | 2015-12-02 | 昆明万锐鹍鹏机电工程技术有限公司 | Tobacco bale loading and unloading car system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110482262A (en) * | 2018-12-12 | 2019-11-22 | 广东天酿智能装备有限公司 | Handling facilities and handling method |
| CN110482262B (en) * | 2018-12-12 | 2024-04-30 | 广东天酿智能装备有限公司 | Handling equipment and handling method |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160420 |
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| RJ01 | Rejection of invention patent application after publication |