CN106809655A - A kind of rocker-arm automatic loading manipulator - Google Patents

A kind of rocker-arm automatic loading manipulator Download PDF

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Publication number
CN106809655A
CN106809655A CN201710128737.5A CN201710128737A CN106809655A CN 106809655 A CN106809655 A CN 106809655A CN 201710128737 A CN201710128737 A CN 201710128737A CN 106809655 A CN106809655 A CN 106809655A
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CN
China
Prior art keywords
lower feed
feed box
mechanical arm
frame
drive device
Prior art date
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Granted
Application number
CN201710128737.5A
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Chinese (zh)
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CN106809655B (en
Inventor
王建军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mianyang Lan Ao Heavy-Duty Machinery Manufacturing Co Ltd
Original Assignee
Mianyang Lan Ao Heavy-Duty Machinery Manufacturing Co Ltd
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Publication of CN106809655A publication Critical patent/CN106809655A/en
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Publication of CN106809655B publication Critical patent/CN106809655B/en
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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
    • B65G67/04—Loading land vehicles
    • B65G67/08—Loading land vehicles using endless conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1669—Programme controls characterised by programming, planning systems for manipulators characterised by special application, e.g. multi-arm co-operation, assembly, grasping
    • 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
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • 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
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • 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
    • B65G67/04—Loading land vehicles
    • B65G67/10—Loading land vehicles using conveyors covering the whole length of vehicle trains
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
  • Manipulator (AREA)
  • Specific Conveyance Elements (AREA)
  • Harvesting Machines For Specific Crops (AREA)
  • Agricultural Machines (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention discloses a kind of rocker-arm automatic loading manipulator, including mechanical arm and the lower feed box installed in mechanical arm discharging end, the small frame of the rigid structure being connected with lower feed box is installed with the mechanical arm, lower feed box is connected by the universal adjusting device being arranged in small frame with small frame；Transmission mechanism is installed in the mechanical arm, and the discharging end of transmission mechanism is correspondingly arranged with lower feed box.The present invention flexibly controls lower feed box by universal adjusting device, the movement of cooperative mechanical arm, lower feed box load material bag can be quick, accurate, regular move to any specified location in railway carriage, not only solve automatic loading blind zone problem but also stacking precisely, automatic loading efficiency high.

Description

A kind of rocker-arm automatic loading manipulator
Technical field
It is a kind of rocker-arm automatic loading manipulator specifically the present invention relates to automatic loading apparatus field.
Background technology
Powder material is generally carried out into the laggard luggage car shipping of packed packaging, current entrucking in building materials, metallurgy, chemical industry This entrucking operation is mainly still relied on and manually carried.From workshop be transported to the powder material of packed packaging by workman During railway carriage carries out entrucking, in the environment largely spread in dust, easily trigger the correlation of the respiratory systems such as pneumoconiosis Disease, not only brings greatly harm to the physical and mental health of workman, returns practitioner family and brings white elephant, is defended according to country Life portion counts professional case in 2014 for 27240 wherein pneumoconiosis account for 90.2%.State-level has attracted great attention,《State Administration of Security Supervision of family is on strengthening the powder processing enterprise dust harzard controls such as cement manufacture and stone material》File " peace Prison is total healthy (2013) No. 112 ", issue each provinces, autonomous regions and municipalities and Xinjiang production and construction soldier in 14 parts of November in 2013 Security production supervision and management office of group.A large amount of airborne dusts are produced to ask during the entrucking entrucking of the powder material for how solving packed packaging Topic, has also triggered paying close attention to for industry.
Although mechanization entrucking, existing defects can be realized using similar devices such as packet capturing robot, conveying robots： Operation a cycle is only capable of transport（Take, transport, put）One batch materials bag, if being only one bag if a batch materials bag automatic loading efficiency compared with It is low, if a batch materials bag is many bags of discharge arranged side by side, although certain operating efficiency can be improved, but to different railway carriage width Adaptability is not good, it is more difficult to makes full use of the space of railway carriage width to carry out the stacking of material bag and puts, vehicle is applicable during entrucking Model is limited or railway carriage in space can be wasted；On the other hand, put or the equipment itself that is placed in railway carriage occupied by sky Between can cause the segment space in railway carriage cannot to pile up material bag, so as to " entrucking blind area " occur.
Even if some loading manipulators, conveying robot stretch into railway carriage carry out the operation of automatic dress bag can be to a certain degree It is upper to solve the problems, such as entrucking blind area, but its working end of loading manipulator, conveying robot（That is discharging end）The lower feed box of installation with The position that mechanical arm is installed is relatively fixed, it is impossible to relatively moved, and is only capable of performing and simply unloads bag action, it is impossible to reaches material The standard of neat, the accurate stacking of bag.
At present, although flexible manipulator can carry out the accurate placement of material bag, cannot continuously by multiple material bags Steadily, it is regular, accurately pile up entrucking, therefore industrial demand cannot be met.
The content of the invention
It is an object of the invention to provide a kind of rocker-arm automatic loading manipulator, the lower feed box of mechanical arm working end can ten thousand To being adjusted to ensure that lower feed box carries out the unloading stacking of material bag under regular location status, so that multiple material Bao Lian Continue, neatly, accurately pile up in railway carriage, reach precisely efficient non-blind area entrucking purpose, and then realize that industrial production is transported During Full automatic loading stability and high efficiency.
The present invention is achieved through the following technical solutions：A kind of rocker-arm automatic loading manipulator, and along railway carriage depth direction The supporting installation of guide rail of setting, including it is slidably mounted on the main conveyor frame on guide rail and the machinery below main conveyor frame Arm, it is characterised in that：Also include the mechanical arm of connection main conveyor frame and built-in transmission mechanism and mechanical arm is risen in railway carriage The slewing equipment lifted or horizontally rotate；The mechanical arm discharging end fixedly mounts the small frame of a rigid structure, and small frame is logical Universal adjusting device is crossed to be connected with lower feed box.
In the present invention, the lower feed box for being mounted with material bag is quickly moved to finger with the liter act or horizontal rotation movement of mechanical arm Positioning is put（Labeled as A points）, while lower feed box is quickly adjusted to currently assigned position by universal adjusting device（A points）It is corresponding Unloading materials bag after regular state, then, lower feed box is reloaded next material bag dropped from transmission mechanism discharging end, machine Lower feed box is quickly moved to next specified location by small frame for tool arm（Labeled as B points）, while lower feed box is by universal Adjusting means is quickly adjusted to currently assigned position（B points）Unloading materials bag after corresponding regular state；By that analogy, so that real Now automatically by material bag it is continuous, neat, accurately pile up the effect in railway carriage.In the present invention, the regular position shape of lower feed box State refers to that lower feed box base plate is parallel with load carrying floor and lower feed box side plate is parallel with body side wall.
In the present invention, multiple material bags continuously enter transmission mechanism one by one from the feeding end of mechanical arm, and by passing Transfer mechanism is delivered in the lower feed box linked together by small frame and mechanical arm one by one.Lower feed box in the present invention Position or state are multi-shaft interlocked results：
One is, main conveyor frame drives whole automatic loading manipulator along the front/rear rectilinear movement of track；
Two are, mechanical arm is risen in railway carriage under the ordering about of slewing equipment and lifted or level rotation together by small frame with lower feed box Turn；
Three are, lower feed box is by universal adjusting device in mechanical arm working end（That is the discharging end of transmission mechanism）Carry out small distance straight Line movement regulation or horizontal deflection regulation or vertical tilt adjustment.
By above-mentioned multi-shaft interlocked, it is final realize it is automatic by material bag it is continuous, neat, accurately pile up the effect in railway carriage Really.
Specifically refer to：
When after the lorry of entrucking stops to specified entrucking region, its railway carriage and automatic loading position of manipulator pair of the present invention Should, the information such as railway carriage coordinate, railway carriage physical dimension according to identification, automatic loading manipulator is first passed through and the supporting installation of guide rail The executing agency of the whole automatic loading manipulator of main modulation frame drive carries out along guide rail or moves ahead or retreat or move to left or move to right Position adjustments, so as to from the position of generous Upward match lorry body, main conveyer arm is risen up into railway carriage and positioned at railway carriage Centre position（Apart from the railway carriage left and right sides, inwall is equal）；
Then, main conveyer arm is driven act to be risen in railway carriage or is horizontally rotated by slewing equipment, while being filled by universal adjustment Level angle or vertical inclination angle or the fine tuning of small range position of adjustment lower feed box are put, the lower feed box of main conveyer arm working end is arrived Any given position in up to railway carriage；
Meanwhile, treat that the material packet stream ability of swimming of entrucking is defeated by the band transmission mechanism on main conveyer arm its main conveyor frame Working end is delivered to, and stacking is carried out in specified location and put；When next material bag is delivered to working end, working end is in master Next specified location is moved under the collective effect of adjustment frame and slewing equipment, the stacking for carrying out the material bag is put, successively Reciprocating action, efficiently realizes that material bag neat, specification in railway carriage is piled up by design requirement.
In the present invention, realize working end station acquisition, drive the control systems of function such as drive device action with it is described The executing agencies such as main conveyer arm, slewing equipment, main modulation frame support the use, but main improvement of the invention is to perform Mechanism and do not lie in control system, therefore control system is not repeated.
In order to preferably realize the present invention, further, the transmission mechanism include band transmission drive device, drive roll, Driven voller, conveyer belt, with transmission drive device by drive roll drive be arranged on drive roll, driven voller conveyer belt rotation with Realize the transport of material bag.
In order to preferably realize the present invention, further, the slewing equipment includes driving mechanical arm to rise the liter that movement is made Lift governor motion and drive mechanical arm Level tune to rotate the horizontal rotation governor motion of drift angle.
In order to preferably realize the present invention, further, the horizontal rotation governor motion includes connecting with main conveyor frame Row frame and order about the servomotor that row frame rotates that the rotary rack and rotary rack for being connected in one are rotatably connected；The liter The liter that lifting governor motion includes that fixed installation is expert on frame and is hinged with mechanical arm lifts rotary shaft, supports and drive mechanical arm to adjust Rise the liter act drive device for lifting angle.
In order to preferably realize the present invention, further, the rotary rack includes the revolution master being fixedly connected with row frame Frame and the revolution wheel disc being embedded in revolution body frame, the revolution body frame upper surface is provided with the servomotor, servomotor It is connected with the driving gear drives for being arranged on gyroscope wheel disk center by reductor, the revolution wheel disc is near drive gear side It is provided with the gear teeth and the gear teeth passes through multiple planetary gears and engaged with drive gear, the planetary gear is fixed on by rotating shaft Rotated relative to revolution body frame with driving revolution wheel disc between revolution body frame and revolution wheel disc.
The revolution wheel disc that the rotary rack includes the revolution body frame being fixedly connected with row frame and is embedded in revolution body frame, The revolution body frame upper surface is provided with the servomotor, and servomotor passes through reductor and is arranged on gyroscope wheel disk center Driving gear drives are connected, and drive gear side is provided with the gear teeth with the revolution wheel disc and the gear teeth pass through multiple planets Gear is engaged with drive gear, and the planetary gear is fixed between revolution body frame and revolution wheel disc to drive revolution by rotating shaft Wheel disc is rotated relative to revolution body frame.
It is further preferred that being provided with abut many between the revolution wheel disc excircle and revolution body frame inner periphery Individual stabilization steel ball.
Still further preferably, the planetary quantity is that the central angle between three and two neighboring planetary gear is 120°。
In order to be more beneficial for the conveying of material, yet further preferably, the feed device is included installed in charging aperture Roller feeding mechanism, and connect the conveyer belt feeding structure of the roller feeding structure and the mechanical arm.
In order to realize the smoothness of material conveying, it is preferable that the roller feeding structure includes the phase for transported material Multiple rollers of mutual parallel installation, by chain drive between the roller, and roller connection positioned at termination is provided with power Feeding servomotor.
In order to preferably realize the present invention, further, the universal adjusting device includes ordering about lower feed box in small frame Bearing of trend compensates mobile compensation adjustment device, orders about the skew correction device of lower feed box transverse rotation amendment, orders about blanking Case vertically rotates the horizontal levelling device of leveling；The skew correction device, horizontal levelling device are connected with lower feed box respectively, water Heibei provincial opera leveling device is arranged on skew correction device, and skew correction device is arranged on compensation adjustment device, compensation adjustment device It is connected with the small frame of top.
The universal adjusting device includes compensation adjustment device, skew correction device, horizontal levelling device.Lead in the present invention The universal adjusting device being mainly made up of compensation adjustment device, skew correction device, horizontal levelling device is crossed, realizes that lower feed box exists When optional position unloads stacking to material bag in railway carriage, can adjust to regular state, i.e. lower feed box side plate and railway carriage madial wall Parallel, lower feed box base plate is parallel with load carrying floor.
Whether lower feed box is in regular state, it is necessary to be detected and fed back to by each sensor in sensor cluster Control module, then analysis is calculated by control module：If lower feed box has been in the regular state of current location, without action；If Lower feed box is not in the regular state of current location, then need to adjust lower feed box location status, and control module output end is to compensation Drive device in adjusting means or skew correction device or horizontal levelling device sends control signal, orders about compensation adjustment device Or the mechanical structure action performed in skew correction device or horizontal levelling device, realize that lower feed box location status are adjusted.
In the present invention, lower feed box is connected by compensation adjustment device with small frame, it is possible to achieve：Lower feed box is in mechanical arm work Make compensation movement before and after the small range of end, to adjust the distance between lower feed box and mechanical arm tail end body.On the one hand, mechanical arm is steady When fixed motionless, the adjustment of lower feed box a small range position, Ji Nengshi are realized in lower feed box front and rear compensation movement relative in mechanical arm Now more neat, accurately stacking, can reduce mechanical arm and move integrally frequency again, and position adjustments response is fast, simple structure；It is another Aspect, mechanical arm swings in vertical direction（I.e. mechanical arm working end is too high or reduces）When, the row of lower feed box location status adjustment Journey is not disturbed by mechanical arm body.That is, lower feed box can be made to be moved forward or rearward a spacing by compensation adjustment device From no matter whether mechanical arm acts, and falls just when being always ensured that material bag drops from the transmission mechanism being arranged in mechanical arm In entering lower feed box, and the stroke of lower feed box location status adjustment is not disturbed by mechanical arm body.
In the present invention, by skew correction device transverse rotation lower feed box, it is possible to achieve：The transverse rotation of lower feed box, adjusts The whole regular state parallel with body side wall to lower feed box side plate.Lower feed box is almost a cuboid in the present invention.Therefore, under Hopper side plate is parallel with body side wall, specifically refers to：Left plate/the right plate of lower feed box is parallel with railway carriage left side wall/right side wall, Or lower feed box front side board is parallel with railway carriage front side wall.Under this state, when the material bag being loaded in lower feed box drops, also with car Case side wall is parallel, thus ensure each material bag it is smooth vertical and horizontal drop to carry out neat stacking.
In the present invention, by the vertical rotary blanking box of horizontal levelling device, it is ensured that unloading materials bag makes material bag in railway carriage The base plate of lower feed box is parallel with carriage bottom plate when interior stacking is put, then loading manipulator carries out the stacking of automatic loading to material bag During operation, substantially in the material bag of cuboid（It is box-packed or packed）It is basic with larger contact after freely falling body drops from lower feed box Floor or preposition material bag below the contact of face, more steady when can make material bag stacking, neat, the material bag of eminence pile It is not easy to drop.
In order to preferably realize the present invention, further, the compensation adjustment device includes being fixedly mounted in small frame Compensation power set and installed in compensation power set output end compensation transmission component, compensate transmission component lower end and blanking Case is connected and drives lower feed box, the skew correction device of connection lower feed box, the horizontal levelling device of connection lower feed box are moved together.
In the present invention, the compensation transmission component is lead screw transmission component, Worm Wheel System component, rack pinion In component, link transmission component, eccentric ratio transmission component, V belt translation component any one.
In order to preferably realize the present invention, further, the skew correction device includes that amendment support frame, amendment drive Device and the amendment transmission device for being arranged on amendment drive device output end, amendment support frame include what upper end was connected with small frame Support foundation and the rotatable support of support foundation lower end is rotatably connected on, rotatable support bottom is fixed with lower feed box and connected Connect, the amendment drive device on amendment support frame orders about rotatable support rotation to drive down by correcting transmission device Hopper carries out the amendment of angle excursion；Support foundation, rotatable support drive of the compensation adjustment device by interconnection Lower feed box is moved together.
In the present invention, the amendment transmission device includes the amendment wheel being connected with amendment drive device, rotational support It is provided with part and takes turns the amendment groove that its outline matches with amendment.
In order to preferably realize the present invention, further, the horizontal levelling device includes that leveling support frame, leveling drive Device and the leveling transmission device for being arranged on leveling drive device output end, leveling support frame include being arranged on skew correction device On leveling pedestal and the leveling pivoted frame that is hinged on below leveling pedestal, leveling pivoted frame bottom is fixedly connected with lower feed box, pacifies Leveling drive device on leveling support frame is ordered about leveling pivoted frame and is rotated to drive lower feed box to enter by leveling transmission device The regulation of row lower feed box base plate and the carriage bottom plate depth of parallelism.
In order to preferably realize the present invention, further, the lower feed box base plate sets opposite opened chamber door or pull case Door；The opposite opened chamber door includes chamber door be made up of two door leafs, split open downwards, main, and lower feed box a left side A door operating gear for ordering about chamber door keying is respectively provided with side plate, the interlayer of right plate；The door operating gear includes opening and closing Drive device and connection open and close the door linkage of drive device and chamber door；The door linkage includes being arranged on keying One primary push rod of drive device output end and two secondary push rods for being symmetricly set on primary push rod both sides, and a secondary push rod correspondence It is hinged a door leaf；The primary push rod middle part is fixed with drive device output end is opened and closed, and primary push rod two ends are in cornice shape to both sides Extend and be hinged with secondary push rod respectively；The pull chamber door is including being arranged on lower feed box base plate, the chamber door that side pulls；It is described Chamber door is that whole board structure and chamber door are opened and closed by the sliding door drive device on lower feed box.
In order to preferably realize the present invention, further, also including detecting lower feed box location status and ordering about lower feed box The control system of line position configuration state regulation；The control system include sensor cluster on the lower feed box and with biography The control module of sensor component connection；The signal output part connection universal adjusting device of the control module simultaneously passes through universal adjustment Device performs the regulation action of lower feed box location status.
In order to preferably realize the present invention, further, the sensor cluster include front end range sensor, highly away from From sensor, left side range sensor, right side range sensor and horizon sensor group；
The front end range sensor, is embedded on lower feed box foreboard foremost, for detecting in lower feed box foreboard and railway carriage The distance between wall；
The height distance sensor, in the back plate of lower feed box rearmost end, for detecting lower feed box base plate and railway carriage ground The distance between plate；
The left side range sensor, in the back plate of lower feed box rearmost end, for detecting lower feed box left plate and railway carriage The distance between inwall；
The right side range sensor, in the back plate of lower feed box rearmost end, for detecting lower feed box right plate and railway carriage The distance between inwall；
The horizon sensor group, is embedded on the base plate of lower feed box bottom, for feeding back lower feed box base plate and load carrying floor Between the depth of parallelism.
In order to preferably realize the present invention, further, it is provided with the lower feed box in push-and-pull material bag to lower feed box The pusher of side wall；The pusher includes being fixed on pusher drive device at the top of lower feed box and installed in pusher Drive device output end and positioned at the scraping wings of blanking box cavity.
In order to preferably realize the present invention, further, the main conveyor structure includes setting the load-bearing frame of pulley mechanism Beam and the two grades of box for feeding odd, the one-level box for feeding odd that are separately mounted to load-bearing grid beam lower end；The discharging opening and two of the one-level box for feeding odd The charging aperture of level box for feeding odd is flexibly connected and is provided with material guiding mechanism between one-level box for feeding odd and two grades of box for feeding odd.
In order to preferably realize the present invention, further, it is provided with the lower feed box in push-and-pull material bag to lower feed box The pusher of side wall；The pusher includes being fixed on pusher drive device at the top of lower feed box and installed in pusher Drive device output end and positioned at the scraping wings of blanking box cavity.
In the present invention, pusher may be such that the material being loaded in lower feed box packs tightly the madial wall of patch lower feed box（It is left inside Side wall or Right Inboard wall）：On the one hand, pusher promotes material bag, material is packed tightly patch blanking box wall and drops, thus energy Dropped stacking close to body side wall, to make full use of railway carriage inner space；On the other hand, with a batch of all materials bag under Same position drops in hopper, is more beneficial for precise positioning and neat stacking.
In order to preferably realize the present invention, further, the pusher sets two groups of one-to-one pushers and drives Device, scraping wings, and two groups of one-to-one pusher drive devices, scraping wings are to being staggered.
In the present invention, one group of corresponding pusher drive device, scraping wings can promote material bag to left madial wall in lower feed box Move and fit；Meanwhile, another group of corresponding pusher drive device, scraping wings can promote material bag to Right Inboard wall in lower feed box Move and fit.
The present invention compared with prior art, with advantages below and beneficial effect：
（1）Lower feed box is connected by universal adjusting device with the small frame installed on the robotic arm in the present invention, by universal adjustment Device control lower feed box carries out the regulation of lower discharge position and blanking angle, the material in ensureing lower feed box during automatic loading Bag is regular to be piled up in railway carriage；
（2）Universal adjusting device can be precisely controlled the action of lower feed box in the present invention, and the motion of cooperative mechanical arm may be such that material Bag from lower feed box with larger area it is steady, accurately drop to specified location, and then realize accurate stacking；
（3）Slewing equipment orders about mechanical arm horizontal rotation adjustment or vertical lifting adjustment in the present invention.
（4）Lower feed box is mobile flexible under the driving of universal adjusting device in the present invention, can quickly reach any in railway carriage The code discharge position specified, effectively solves the problems, such as entrucking blind area, and automatic loading efficiency high, railway carriage space availability ratio are high.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is the structural representation of compensation adjustment device in the present invention.
Structural representation when Fig. 3 in compensation adjustment device to offset transmission device for lead screw transmission component.
Structural representation when Fig. 4 in compensation adjustment device to offset transmission device for link transmission component.
Fig. 5 is structural representation when being partial to link transmission component to offset transmission device in compensation adjustment device.
Structural representation when Fig. 6 in compensation adjustment device to offset transmission device for scissor type telescopic component.
Fig. 7 is the structural representation of skew correction device in the present invention.
Fig. 8 is the close-up schematic view at skew correction device A in Fig. 7.
Fig. 9 is structural representation of the skew correction device using belt component transmission.
Figure 10 is the structural representation of reclaimed water Heibei provincial opera leveling device of the present invention.
Figure 11 is horizontal levelling device left view.
Figure 12 is the view that lower feed box inclines before i.e. horizontal leveling in horizontal levelling device.
Figure 13 is the structural representation of pusher in lower feed box.
Figure 14 is the structural representation of door operating gear when chamber door uses opposite opened in lower feed box.
Figure 15 is elevational schematic view when chamber door is using side pull in lower feed box.
Figure 16 is the structural representation of slewing equipment.
Figure 17 is the structural representation for horizontally rotating drive device.
Figure 18 is the internal structure schematic diagram of main conveying frame.
Wherein：1- main conveyor framves, 11- load-bearing grid beams, 12- one-level box for feeding odd, bis- grades of box for feeding odd of 13-, 2- slewing equipments, 21- rotary racks, 210- revolution wheel discs, 211- drive gears, 212- planetary gears, 215- revolution body frames, 22- row framves, 23- liters Rotary shaft is lifted, 24- rises and lifts drive device, 25- horizontal rotation drive devices, 3- transmission mechanisms, 4- mechanical arms, the small frames of 51-, 52- offsets power set, 501- leading screws, 502- sliding blocks, 503- support bases, 504- line slideway auxiliaries, the push rods of 511- first, 512- First pushing block, 513- narrow slots, 521- driving disks, the push rods of 522- second, the pushing blocks of 523- second, 531- fork arms, 532- the 3rd is pushed away Block, 541- amendment drive devices, 542- amendment support frames, 5421- support foundations, 5422- rotatable supports, 543- amendment transmissions Device, 5431- amendment wheels, 5432- belt components, 551- leveling drive devices, 552- leveling support frames, 5521- leveling pedestals, 5522- leveling pivoted frames, 553- leveling transmission devices, 5531- leveling driving wheels, 5532- leveling transmission reinforcements, 5533- hinged ears, 5534- spline coupling sleeves, 6- lower feed boxs, 61- chamber doors, 62- left plates, 63- right plates, 641- scraping wings, 642- pushers drive Device, 651- opens and closes drive device, 652- primary push rods, 653- pair push rods, 661- sliding door drive devices, 662- scissor-type connecting rods.
Specific embodiment
When automatic loading equipment carries out entrucking, general entrucking follows principle and is：From a lateral opposite side, from bottom to top, from Outward inside.For example：First the lateral opposite side from railway carriage inside near headstock one end piles up ground floor material bag, then same It is horizontally-arranged to carry out piling up for second layer material bag, after this horizontally-arranged material bag piles up end, it is displaced outwardly carrying out the second horizontally-arranged material bag Multilayer pile up, the like, complete all materials bags and pile up entrucking.
As shown in Fig. 3, Figure 10, linear motion, the level of horizontal direction are only limitted to due to the movement of mechanical arm 4 in the present invention The swing in direction, the linear motion of vertical direction, the swing of vertical direction this four class, wherein：The linear motion of horizontal direction is Refer to the advance of correspondence X/Y plane, retreat, move to left, moving to right；The swing of horizontal direction refers to the left-hand rotation of correspondence X/Y plane, turns right；It is perpendicular Nogata to linear motion refer to the rising of correspondence YZ planes, decline；The swing of vertical direction refer to correspondence YZ planes upper rotation, Backspin.
The present invention is described in further detail with reference to embodiment, but embodiments of the present invention not limited to this.
Embodiment 1：
A kind of rocker-arm automatic loading manipulator of the present embodiment, as shown in figure 1, including mechanical arm 4 and under mechanical arm 4 Expect the lower feed box 6 at end, it is characterised in that：The small machine of the rigid structure being connected with lower feed box 6 is installed with the mechanical arm 4 Frame 51, lower feed box 6 is connected by the universal adjusting device being arranged in small frame 51 with small frame 51；Peace in the mechanical arm 4 Transmission mechanism is filled, and the discharging end of transmission mechanism is correspondingly arranged with lower feed box 6.
The small frame 51 can play the guide effect during compensation movement of lower feed box 6, lower feed box 6 can be played again and is loaded The auxiliary load-bearing effect of material bag in lower feed box 6.
In the present embodiment, multiple material bags continuously enter transmission mechanism one by one from the upper end of mechanical arm 4, and by passing Transfer mechanism is delivered in the lower feed box 6 linked together by small frame 51 and mechanical arm 4 one by one.Mechanical arm 4 works End by the small frame 51 of rigid structure drive lower feed box 6 carry out together the linear motion, horizontal direction of horizontal direction swing, Any one or more motions in the swing of the linear motion, vertical direction of vertical direction, meanwhile, universal adjusting device drives blanking Case 6 carries out universal adjustment, lower feed box 6 is adjusted to regular state when being located at optional position in railway carriage, so as to realize dress Continuous, accurate, the neat automatic loading palletization operations of car manipulator.
In the present embodiment, main executing agency mutually links：
The main conveyor frame 1, drives whole automatic loading manipulator together, along the front/rear linear motion of guide rail；
The slew gear 2, driving mechanical arm, small frame, lower feed box horizontally rotate swing together, while upper act or lower falling tone Section；
The small frame 51, extends, rigid structure, for by machine installed in the working end of mechanical arm 4 and to the bearing of trend of mechanical arm 4 Tool arm 4 and lower feed box 6 are connected as one and support the lower feed box 6 and the material bag that is loaded in lower feed box 6 of universal adjustment；
The universal adjusting device, is connected in small frame 51 and with lower feed box 6, for ordering about lower feed box 6 in mechanical arm 4 Working end carries out the regulation of location status；
The mechanical arm 4, for driving the action that lower feed box 6 carries out by a relatively large margin together by small frame 51；
The transmission mechanism 3, in mechanical arm 4, for by material bag one by one continuous conveying to lower feed box 6.
The lower feed box 6, is arranged on the lower section of small frame 51, for loaded material bag to specific bit by universal adjusting device Put and material bag is piled up with regular state.
The main conveyor frame 1, slew gear 2, transmission mechanism 3, mechanical arm 4, small frame 51, universal adjusting device, under Hopper 6, constitutes the major mechanical structure realized corresponding to material bag automatic loading stacking together.
Embodiment 2：
The present embodiment further discloses the structure of universal adjusting device.A kind of rocker-arm automatic loading manipulator, including mechanical arm 4 Lower feed box 6 with installed in the discharging end of mechanical arm 4, is installed with the rigid structure being connected with lower feed box 6 on the mechanical arm 4 Small frame 51, lower feed box 6 is connected by the universal adjusting device being arranged in small frame 51 with small frame 51；The mechanical arm Transmission mechanism is installed in 4, and the discharging end of transmission mechanism is correspondingly arranged with lower feed box 6.
The universal adjusting device includes compensation adjustment device, skew correction device, horizontal levelling device.Lead in the present invention The universal adjusting device being mainly made up of compensation adjustment device, skew correction device, horizontal levelling device is crossed, lower feed box 6 is realized When optional position unloads stacking to material bag in railway carriage, can adjust to regular state, the i.e. side plate of lower feed box 6 and railway carriage inner side Wall is parallel, and the base plate of lower feed box 6 is parallel with load carrying floor.
As shown in Fig. 2 the compensation adjustment device includes the compensation power set and the peace that are fixedly mounted in small frame 51 Mounted in the compensation transmission component of compensation power set output end, compensation transmission component lower end is connected with lower feed box 6 and drives blanking Case 6, the skew correction device of connection lower feed box 6, the horizontal levelling device of connection lower feed box 6 are moved together.
As shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, in the present invention, the compensation transmission component is lead screw transmission component, worm gear snail In bar transmission component, rack pinion component, link transmission component, eccentric ratio transmission component, V belt translation component any one.
Power set 52 are compensated in the present embodiment lower feed box 6 is ordered about in small machine by the compensation transmission component in small frame 51 Movement is compensated in the range of frame 51；Small frame 51 undertakes lower feed box 6 and is loaded in the weight of material bag in lower feed box 6 simultaneously.Relatively It is small model power set 52 to be compensated in the movement of mechanical arm 4, the present invention movement of lower feed box 6 is driven by compensating transmission component Enclose interior micro movement.
When need to make during automatic loading stacking position from upper one it is horizontally-arranged to it is next horizontally-arranged mobile when：If mechanical arm 4 with The position of lower feed box 6 is relatively fixed, it is necessary to move mechanical arm 4 to realize the movement that the correspondence code stack position of lower feed box 6 is put；According to this Structure described in embodiment, because the compensation that lower feed box 6 can carry out position with the body of relative mechanical arm 4 is moved, keeps machine Tool arm 4 is motionless, and only orders about the compensation movement of lower feed box 6 by compensating power set 52, compensation transmission component.
Another kind, the mechanical arm 4 be one can level swing again can vertical lifting swing mechanical arm 4, machine The shaft core position that the level of tool arm 4 swings is constant, and blanking can be substantially realized by the regulation of the horizontal hunting angle of mechanical arm 4 The stacking position of case 6 moves to the action of railway carriage opposite side from railway carriage side：If mechanical arm 4 is relatively fixed with the position of lower feed box 6, blanking The actual motion track of case 6 is an arc and non-rectilinear, can cause that stacking is irregular, position is not accurate；According in the present embodiment The structure, because the compensation that lower feed box 6 can carry out position with the body of relative mechanical arm 4 is moved, under the drive of mechanical arm 4 During hopper 6 carries out transverse shifting, compensation power set 52, compensation transmission component order about lower feed box 6 and carry out small distance Compensation movement, you can ensure that stacking position is smooth vertical and horizontal, uniform.
In order that the compensation of lower feed box 6 is more stablized when mobile, transmission device is slidably connected with small frame 51.The transmission dress Put and be slidably connected one of mode for pulley-type with small frame 51, i.e., set in small frame 51 and set on slide rail or slideway and transmission device Pulley corresponding with slide rail or slideway is put, pulley is rolled on slide rail or slideway during transmission device drives lower feed box 6 to move It is dynamic；It the two of mode is ball-type that transmission device and small frame 51 are slidably connected, i.e., set retainer, transmission device in small frame 51 With the multiple ball contacts being arranged in retainer, ball rotation was both supported during transmission device drives lower feed box 6 to move Transmission device does not influence it to move again.
The track of carriage sliding end linear motion can be provided for further limiting in the small frame 51, also may be used Can be connected with the blanking device of lower section with the sliding end only by mechanical dimension's limit slippage device, again can be in small frame 51 Rectilinear movement.
The power set 52 are with servomotor as power source；The transmission device is lead screw transmission component.The servo The output shaft of motor is connected by shaft coupling with the leading screw 501 in lead screw transmission component.Socket and lower feed box on the leading screw 501 The sliding block 502 of 6 connections.
More stablize to further move lower feed box 6, one end of the support base 503 is fixed in small frame 51, The other end of support base 503 is installed and the supporting bearing of leading screw 501.This structure can improve the working strength of leading screw 501, preferably Ensure the stability of transmission.
More stablize to further move lower feed box 6, the cross section of the sliding block 502 is in " C " font, and support base 503 are provided with the chute matched with the exterior contour of sliding block 502.Chute is matched with cross section in the sliding block 502 of " C " font, " C " word Type docking structure can play guide effect, and load-bearing can be further aided in again, it is ensured that the stabilization of carriage its sliding end movement Property.On the one hand, " C " font docking structure contact area is big, and relative movement is more stablized；On the other hand, cross section is " C " font Sliding block 502 can be processed by way of first turning again flat surface grinding, processing cost is low；Also on the one hand, " C " font Sliding block 502 its plane convenient be fixedly connected with the lower feed box 6 of lower section.
More stablize to further move lower feed box 6, the sliding block 502 constitutes a ball-screw with leading screw 501 It is secondary.
More stablize to further move lower feed box 6, Auxiliary support lower feed box 64 is also set up in the small frame 51 Line slideway auxiliary 504；The line slideway auxiliary 504 includes the fixed guide rail being fixedly mounted in small frame 51 and is slidably installed Buffer sliding block on fixed guide rail, buffer sliding block both sides set limiting buffer block, the two ends of fixed guide rail be respectively provided with it is spacing The corresponding postive stop baffle in buffer stopper position.
As shown in Fig. 7, Fig. 8, Fig. 9, the skew correction device includes amendment support frame, amendment drive device and is arranged on Correct drive device output end amendment transmission device, amendment support frame include upper end be connected with small frame 51 support foundation, And the rotatable support of support foundation lower end is rotatably connected on, rotatable support bottom is fixedly connected with lower feed box 6, is arranged on Amendment drive device on amendment support frame is ordered about rotatable support by correcting transmission device and is rotated to drive the lower feed box 6 to carry out The amendment of angle excursion；Support foundation, rotatable support drive lower feed box 6 one of the compensation adjustment device by interconnection Play movement.
The skew correction device includes amendment support frame 542, amendment drive device 541 and is arranged on amendment drive device The amendment transmission device 543 of 541 output ends, amendment support frame 542 include upper end be connected with small frame 51 support foundation 5421, And the rotatable support 5422 of the lower end of support foundation 5421 is rotatably connected on, the bottom of rotatable support 5422 is consolidated with lower feed box 6 Fixed connection, the amendment drive device 541 on amendment support frame 542 orders about rotational support by correcting transmission device 543 Part 5422 rotates the amendment to drive lower feed box 6 to carry out angle excursion.
Its body of amendment drive device 541 is fixed in the present invention, and its output end of amendment drive device 541 is driven by correcting Device 543 drives the left-right rotation in the horizontal direction of lower feed box 6.Amendment drive device 541 its body can be directly anchored to small machine On frame 51, now lower feed box 6 is only capable of left-right rotation in the horizontal direction；Amendment drive device 541 its body can also be fixed on peace Loaded on the amendment support frame 542 in small frame 51, now lower feed box 6 can not only left-right rotation can also be with repairing in the horizontal direction Positive support frame 542 is front and rear in small frame 51 together/moves left and right.
The amendment support frame 542 primarily serves connection, the effect of support.Amendment support frame 542 top is and small frame The support foundation 5421 of 51 connections, bottom is the rotatable support 5422 being connected with lower feed box 6, support foundation 5421 and rotation branch Support member 5422 is rotated and connected as one.Support foundation 5421 can be fixedly mounted in small frame 51, it is also possible to be slidably connected at In small frame 51.Rotatable support 5422 then drive below the left-right rotation in the horizontal direction of lower feed box 6.Whole amendment support frame 542 had both ensured that lower feed box 6 was connected as one with small frame 51, and did not limited the action of the left-right rotation of lower feed box 6.
In the present embodiment, the lower feed box 6 being connected with small frame 51 by correcting support frame 542 can be in amendment drive device 541st, the lower left-right rotation of amendment transmission device 543 effect, realizes deflection amendment.
The amendment transmission device 543 includes the amendment wheel 5431 being connected with amendment drive device 541, rotational support The amendment groove matched with amendment 5431 its outline of wheel is provided with part 5422.In the present embodiment, amendment takes turns 5431 with amendment Channel profiles matching is exactly to effectively be driven, preventing skidding.
The amendment wheel 5431 is the corrected gear that outer ring sets the gear teeth, and amendment groove includes light groove and is fixedly mounted on light groove In amendment gear ring, correct gear ring Internal periphery matched with the outline of corrected gear just.Entered in the form of gear engagement Row transmission, it is ensured that transmission stability.And corrected gear directly can be purchased commercially, purchase standard component is conducive to control Equipment cost.
Certainly amendment wheel 5431 is not limited only to corrected gear, can also be other structures, for example：The horizontal stroke of amendment wheel 5431 Section is in cam-like or ellipticity or polygon-shaped.
The output end of the amendment drive device 541 is additionally provided with the dust cover covered on outside amendment transmission device 543.It is described Dust cover especially when automatic loading is carried out in dust such as cement bag, flour bags compared with overall situation, is effectively prevented for dust-proof Dust enters inside manipulator, can extension device service life.
After mechanical arm 4 stretches into railway carriage, lower feed box 6 is moved to the position for treating code material, now skew correction device is ordered about down Left rotation and right rotation is acted and enters line skew amendment hopper 6 in the horizontal direction, the side wall of lower feed box 6 is put down all the time with the side wall of railway carriage OK, the material bag that then welt is placed in lower feed box 6 freely falling body from lower feed box 6 vertically falls and carries out stacking.In repetition State action, automatic loading manipulator can by multiple material bags it is smooth vertical and horizontal, neat pile up the specified location in railway carriage.This knot Structure effectively solves the blind zone problem of automatic loading, while railway carriage space can be made full use of.
As shown in figure 9, structural representation of the skew correction device using belt component transmission.
As shown in Figure 10, Figure 11, Figure 12, the horizontal levelling device includes leveling support frame, leveling drive device and sets The leveling transmission device in leveling drive device output end is put, leveling support frame includes the leveling on skew correction device Pedestal and the leveling pivoted frame being hinged on below leveling pedestal, leveling pivoted frame bottom is fixedly connected with lower feed box 6, installed in tune Leveling drive device on flat support frame is ordered about leveling pivoted frame and is rotated to drive the lower feed box 6 to carry out blanking by leveling transmission device The regulation of the base plate of case 6 and the carriage bottom plate depth of parallelism.
The horizontal levelling device includes leveling support frame 552, leveling drive device 551 and is arranged on leveling drive device The leveling transmission device 553 of 551 output ends, leveling support frame 552 include upper end be connected with small frame 51 leveling pedestal 5521, And the leveling pivoted frame 5522 below leveling pedestal 5521 is hinged on, the bottom of leveling pivoted frame 5522 is fixedly connected with lower feed box 6, pacifies Leveling drive device 551 on leveling support frame 552 by leveling transmission device 553 order about leveling pivoted frame 5522 rotate with Driving lower feed box 6 carries out the regulation of the base plate of lower feed box 6 and the carriage bottom plate depth of parallelism.
In the present embodiment, as shown in figure 12, the inclination of lower feed box 6 is the state before horizontal leveling in horizontal levelling device.Adjust Flat drive device 551 is ordered about lower feed box 6 and is rotated in vertical direction (correspondence YZ planes) by leveling transmission device 553, no matter machine Rotation or backspin on tool arm 4, the floor of the base plate of lower feed box 6 all the time with railway carriage are parallel.
In the present embodiment, leveling support frame 552 is connected with small frame 51 and lower feed box 6 respectively, has both caused that lower feed box 6 passes through Small frame 51 is connected as one with mechanical arm 4, causes that lower feed box 6 can be with dexterous actions, regulating base board in the discharging end of mechanical arm 4 again With the gradient on floor.The leveling support frame 552 includes the leveling pedestal 5521, the leveling pivoted frame 5522, leveling that are hinged Pedestal 5521 is used to install leveling drive device 551 and connects small frame 51, and leveling pivoted frame 5522 is used to load lower feed box 6.Institute Stating leveling pivoted frame 5522 should load lower feed box 6 and materials inside bag, not interfere lower feed box 6 again in the rotation of vertical direction. Described one end of leveling transmission device 553 is connected with the output end of leveling drive device 551, and the other end is connected with leveling pivoted frame 5522 And drive lower feed box 6 to rotate together by leveling pivoted frame 5522.
The leveling transmission device 553 includes the leveling driving wheel 5531 being connected with leveling drive device 551；It is described The top of leveling pivoted frame 5522 is provided with the leveling transmission reinforcement 5532 across lower feed box 6, is set and leveling in leveling transmission reinforcement 5532 The hinged ear 5533 that frame is hinged；The leveling driving wheel 5531 orders about lower feed box 6 in side vertically by leveling transmission reinforcement 5532 To rotation.
Intermeshing driving cog is respectively provided with the outline and leveling transmission reinforcement 5532 of the leveling driving wheel 5531.
The driving cog is straight-tooth or helical teeth.
It is driven by driving cog in the present embodiment, it is steady that transmission process is difficult skidding, transmission efficiency, service behaviour It is fixed.In whole system running, the operation stability of whole mechanical arm 4 can be ensured.
The leveling driving wheel 5531 is directly connected to the output shaft of leveling drive device 551 by key, or leveling is driven Driving wheel 5531 is connected with the output shaft of leveling drive device 551 by adaptor.The adaptor is by being bonded Connect the spline coupling sleeve 5534 installed in its output shaft of leveling drive device 551, and spline coupling sleeve 5534, leveling driving wheel The external splines of spline connection is respectively provided with 5531.
The performance of servomotor can influence the mobile precision of compensation, and the MR-E systems of Mitsubishi are can select in the present embodiment Row, MR-J series, fast response time, control accuracy are high, stable.Certainly with technology development and progress, can be with optional Servomotor that can be more excellent.
The other parts of the present embodiment are same as Example 1, therefore repeat no more.
Embodiment 3：
The present embodiment does further optimization on the basis of embodiment 1 or 2, as shown in figure 1, a kind of rocker-arm automatic loading is mechanical Hand, including mechanical arm 4, the lower feed box 6 installed in the discharging end of mechanical arm 4, and detect the location status of lower feed box 6 and order about lower feed box 6 control systems for carrying out location status regulation.The rigid structure that is connected with lower feed box 6 is installed with the mechanical arm 4 Small frame 51, lower feed box 6 is connected by the universal adjusting device being arranged in small frame 51 with small frame 51；The mechanical arm 4 Interior installation transmission mechanism, and the discharging end of transmission mechanism is correspondingly arranged with lower feed box 6.
The control system includes the sensor cluster being arranged on lower feed box 6 and the control being connected with sensor cluster Molding block；The signal output part connection universal adjusting device of the control module simultaneously performs lower feed box 6 by universal adjusting device The regulation action of location status.Sensor cluster, control module composition realize material bag automatic loading code in the control system Major control structure corresponding to pile.
In order to preferably realize the present invention, further, the sensor cluster include front end range sensor, highly away from From sensor, left side range sensor, right side range sensor and horizon sensor group；
In the present embodiment, the front end range sensor, height distance sensor, left side range sensor, right side Distance-sensing Device is range sensor.In the present embodiment, horizon sensor group can be two range sensor compositions, or one Horizontal gyro.
When horizon sensor group is that two range sensors are constituted, two range sensors detect measurement point and railway carriage Distance between floor：If two range sensor fitting depths are identical, when the two values for detecting are identical, the bottom of lower feed box 6 Plate is parallel with load carrying floor；If two range sensor fitting depth differences are △ h, the two values for detecting meet with △ h During corresponding relation, the base plate of lower feed box 6 is parallel with load carrying floor.Simple numerical relation, its operation principle is existing and non-invention Improvement, therefore repeat no more.
When horizon sensor group is a horizontal gyro, load carrying floor is consistent with the inclination angle that horizontal gyro is measured When, the base plate of lower feed box 6 is parallel with load carrying floor.Simple numerical relation, its operation principle is existing and improvement of non-invention, Therefore repeat no more.
The front end range sensor, height distance sensor, left side range sensor, right side range sensor and level Sensor group gathered data simultaneously feeds back to control module, and by control module data are analyzed with the hair for the treatment of and control instruction Send.
The output end of the control module connects supplement drive device, skew correction device in compensation adjustment device respectively In amendment drive device, the leveling drive device in horizontal levelling device.The supplement drive device is by supplementing transmission group Part orders about lower feed box 6 and carries out straight line supplement movement.The amendment drive device orders about lower feed box 6 by skew correction device to be carried out Deflection corrective action.The horizontal levelling device orders about lower feed box 6 and carries out horizontal leveling action by horizontal levelling device.
The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.
Embodiment 4：
Pusher of the present embodiment to being arranged in lower feed box 6 on the basis of any one of embodiment 1,2,3 does further optimization, The pusher of push-and-pull material bag to the madial wall of lower feed box 6 is provided with the lower feed box 6；The pusher includes being fixed on The pusher drive device 642 at the top of lower feed box 6 and installed in the output end of pusher drive device 642 and positioned at the inner chamber of lower feed box 6 Scraping wings 641.Setting 641 pairs of material bags into lower feed box 6 of a scraping wings carries out making material pack tightly under patch by a left side pushes away The inwall of the left plate 62 of hopper 6, similarly, 641 pairs of material bags into lower feed box 6 of a scraping wings carry out making material by the right side pushes away Pack tightly the inwall of the patch right plate 63 of lower feed box 6.
As shown in figure 13, further, in order to improve push pedal operating efficiency, two groups of the pusher setting is one-to-one Pusher drive device 642, scraping wings 641, and two groups of one-to-one pusher drive devices 642, scraping wings 641 pairs are to staggeredly setting Put.
The other parts of the present embodiment are identical with any one of embodiment 1-3, therefore repeat no more.
Embodiment 5：
The present embodiment does further optimization on the basis of embodiment any one of 1-4, and as shown in figure 14, the base plate of the lower feed box 6 is opened If chamber door 61 be made up of two door leafs, split open downwards, main, and the left plate 62 of lower feed box 6, right plate 63 A door operating gear for ordering about the keying of chamber door 61 is respectively provided with interlayer；The door operating gear include open and close drive device 651, And connection opens and closes the door linkage of drive device 651 and chamber door 61；The door linkage includes that being arranged on keying drives One primary push rod 652 of the output end of device 651 and two secondary push rods 653 for being symmetricly set on the both sides of primary push rod 652, and a pair The correspondence of push rod 653 is hinged a door leaf；The middle part of the primary push rod 652 is fixed with the output end of drive device 651 is opened and closed, primary push rod 652 two ends are hinged in cornice shape to both sides extension and respectively with secondary push rod 653.
The chamber door 61 uses opposite opened structure, and it is same that keying drive device 651 orders about two door leafs by door linkage When open, material bag drops in lower feed box 6, and position of dropping is accurate and drop is small when dropping, material bag-like state is steady.
The left plate 62 of lower feed box 6, right plate 63 are hollow structure in the present embodiment, and left plate 62, right plate 63 are equal There is inner and outer wall, and door operating gear is arranged in hollow structure.
In the present embodiment open and close drive device 651 can be it is electronic can also be it is pneumatic, open and close drive device 651 output End drives door leaf to act by constituting the symmetrically arranged secondary push rod 653 of the primary push rod 652, two of linkage, when door leaf is closed The weight of material bag can effectively be born；Door leaf open when it is rapid, smooth, simple structure and efficiently.
The other parts of the present embodiment are identical with any one of embodiment 1-4, therefore repeat no more.
Embodiment 6：
The present embodiment does further optimization on the basis of embodiment any one of 1-4, and the base plate of the lower feed box 6 sets one side and pulls The chamber door 61 of formula；The chamber door 61 is that whole board structure and chamber door 61 are opened by the sliding door drive device 661 on lower feed box 6 Close.The doorframe of the base plate of the lower feed box 6 is higher than the surface of chamber door 61, and the effect for stopping is packaged to material.
As shown in figure 15, the chamber door 61 uses side pull structure, and chamber door 61 is a whole plate.Chamber door 61 is opened When, sliding door drive device 661 directly outwards extracts chamber door 61 out；When chamber door 61 is closed, sliding door drive device 661 drives chamber door 61 Inwardly turn back to.This structure can fully save the space of short transverse relative to opposite opened structure, high when being more suitable for code material Degree has the occasion of stricter limitation.
Further, in order that the structure of this loading manipulator is compacter, sliding door drive device 661 is arranged on blanking On the rear board of case 6, that is, drive device 661 of pulling is arranged on lower feed box 6 near the side of mechanical arm 4.During using this structure, chamber door 61 From near the side closure or openness of mechanical arm 4.
Further, the output end of sliding door drive device 661 is also connected with a scissor-type connecting rod 662, drive device 661 of pulling Chamber door 61 is driven to open and close by scissor-type connecting rod 662.The sliding door drive device 661 uses electrical pushing cylinder, scissor-type connecting rod 662 1 End is arranged on electrical pushing cylinder output shaft.
Further, chamber door 61 and the supporting installation of door slide rail for being arranged on the bottom of lower feed box 6.The end of the door slide rail is also It is provided with the anti-drop block for preventing chamber door 61 from undesirably falling off.The chamber door 61 is stable by being arranged on the door slide rail of the bottom of lower feed box 6 Slide, and limited without surprisingly coming off by anti-drop block.
The other parts of the present embodiment are identical with any one of embodiment 1-4, therefore repeat no more.
Embodiment 7：
As shown in Figure 16,17, the present embodiment does further optimization on the basis of embodiment any one of 1-6, and the slewing equipment 2 is wrapped The liter for driving 4 liters of movements of mechanical arm to make is included to lift governor motion and drive the horizontal rotation of the Level tune of mechanical arm 4 rotation drift angle to adjust Section mechanism.
The horizontal rotation governor motion includes the rotary rack 21 and the turn-around machine that are connected as one with main conveyor frame 1 Row frame 22 and order about the horizontal rotation drive device 25 that row frame 22 rotates that frame 21 is rotatably connected；Described liter lifts governor motion bag The liter that fixed installation is expert on frame 22 and is hinged with mechanical arm 4 is included to lift rotary shaft 23, support and drive mechanical arm 4 to adjust to rise and lift angle The liter of degree lifts drive device 24.
The rotary rack 21 includes the revolution body frame 215 being fixedly connected with row frame 22 and is embedded in revolution body frame 215 Revolution wheel disc 210, revolution body frame 215 upper surface is provided with the horizontal rotation drive device 25, and horizontal rotation drives Device 25 is by reductor and the drive connection of drive gear 211 for being arranged on revolution wheel disc 210 center, the revolution wheel disc 210 The side of drive gear 211 is provided with the gear teeth and the gear teeth passes through multiple planetary gears 212 and engaged with drive gear 211, The planetary gear 212 is fixed between revolution body frame 215 and revolution wheel disc 210 to drive the revolution phase of wheel disc 210 by rotating shaft Revolution body frame 215 is rotated.
In the present embodiment, material conveying process is：Material is excluded from production equipment, or packaging facilities, by existing Any transporter by material feeding main conveyor structure 1, by the conveying and adjustment of main conveyor structure 1, material was according to both Determine direction to deviate from from main conveyor structure 1 and drop on the transmission mechanism 3 of mechanical arm 4, by the transmission of transmission mechanism 3, thing Material bag moves to lower feed box 6 along the length direction of mechanical arm 4 and final discharging is piled up in railway carriage.
Secondly, when stacking is carried out to material, inevitably the position according to actual material stacking is to machine for the present invention Its working end (installing at lower feed box) of tool arm 4 is adjusted, including the regulation of the height of mechanical arm 4 and the regulation of horizontal level.When For different splendid attires and transported material physical distribution terminal car when, the container height of its vehicle is inconsistent, it is necessary to mechanical arm 4 The height of working end carries out the regulation of adaptability, to meet required height, preferably carries out stacking assembling to material.
The method and principle that the working end of mechanical arm 4 is highly adjusted are as follows：Because rotary shaft is lifted in one end of mechanical arm 4 by rising 23 are hinged with row frame 22, and act drive device 24 two ends that rise are directly connected to mechanical arm 4 and rotary rack 21, when a liter act drives dress 24 are put when being extended or shortening is acted, the working end of mechanical arm 4 then realizes that rise/fall is acted accordingly, so as to realize The regulation of the height of mechanical arm 4, meets the problem of different railway carriage height.
Be worth explanation when, drive it is described rise lift drive device 24 hydraulic power source, such as hydraulic pump, hydraulic oil pipe, control Controller of hydraulic pump works etc. can be arranged on any position for not influenceing mechanical arm 4 to work, due to mechanical arm of the present invention Improvement not on hydraulic mechanism or hydraulic system, therefore, the part being not expressly mentioned for hydraulic pressure can be using existing There is technology, so do not describe in detail in the present embodiment.
Finally, when needing the vehicle fleet size for carrying out material stacking more, such as many lorries wait the feelings of entrucking side by side Condition, truck vehicle is typically, with mechanical arm base as the center of circle, to carry out fan-shaped stop.In the scenario above, mechanical arm 4 is filled in stacking Can be ceaselessly rotated during car, with transporting material to different lorry bodies.Mechanical arm 4 is in the level of carrying out During rotation, its operation principle is as follows：Horizontal rotation drive device 25 transfers power to rotary rack 21 after being powered, and makes turn-around machine Frame 21 is rotated, so as to adjust the rotation of mechanical arm 4, the rotating of mechanical arm 4 is by horizontally rotating drive device 25 Rotating is controlled.
The other parts of the present embodiment are identical with any one of embodiment 1-6, therefore repeat no more.
Embodiment 8：
The present embodiment does further optimization on the basis of embodiment any one of 1-7, and as shown in figure 18, the main conveyor structure 1 is wrapped The load-bearing grid beam 11 for including setting pulley mechanism is separately mounted to two grades of box for feeding odd 13, the one-level box for feeding odd of the lower end of load-bearing grid beam 11 12；The discharging opening of the one-level box for feeding odd 12 is flexibly connected and one-level box for feeding odd 12 and two grades with the charging aperture of two grades of box for feeding odd 13 Material guiding mechanism is provided between box for feeding odd 13.
The other parts of the present embodiment are identical with any one of embodiment 1-7, therefore repeat no more.
The above, is only presently preferred embodiments of the present invention, not does any formal limitation to the present invention, it is every according to Any simple modification, the equivalent variations made to above example according to technical spirit of the invention, each fall within protection of the invention Within the scope of.

Claims (10)

1. a kind of rocker-arm automatic loading manipulator, with the guide rail set along railway carriage depth direction（001）Supporting installation, including cunning It is dynamic to be arranged on guide rail（001）On main conveyor frame（1）With positioned at main conveyor frame（1）The mechanical arm of lower section（4）, its feature exists In：Also include connection main conveyor frame（1）With the mechanical arm of built-in transmission mechanism（4）And make mechanical arm（4）Risen in railway carriage and lifted Or the slewing equipment of horizontal rotation（2）；The mechanical arm（4）Discharging end fixedly mounts the small frame of a rigid structure（51）, and Small frame（51）By universal adjusting device and lower feed box（6）Connection.
2. a kind of rocker-arm automatic loading manipulator according to claim 1, it is characterised in that：The slewing equipment（2） Including driving mechanical arm（4）Rise liter act governor motion and driving mechanical arm that movement is made（4）Level tune rotates the level of drift angle Rotation regulating mechanism.
3. a kind of rocker-arm automatic loading manipulator according to claim 2, it is characterised in that：The horizontal rotation regulation Mechanism includes and main conveyor frame（1）The rotary rack for connecting as one（21）With rotary rack（21）The row frame of rotatable connection （22）And order about row frame（22）The horizontal rotation drive device of rotation（25）；Described liter lifts governor motion including being fixedly mounted on Row frame（22）Upper and and mechanical arm（4）The liter being hinged lifts rotary shaft（23）, support and drive mechanical arm（4）Regulation rises lifts angle Rise and lift drive device（24）.
4. a kind of rocker-arm automatic loading manipulator according to claim 3, it is characterised in that：The rotary rack（21） Including with row frame（22）The revolution body frame being fixedly connected（215）Be embedded in revolution body frame（215）Interior revolution wheel disc（210）, The revolution body frame（215）Upper surface is provided with the horizontal rotation drive device（25）, horizontally rotate drive device（25）It is logical Cross reductor and be arranged on revolution wheel disc（210）The drive gear at center（211）Drive connection, the revolution wheel disc（210）Lean on Nearly drive gear（211）Side is provided with the gear teeth and the gear teeth pass through multiple planetary gears（212）With drive gear（211）Nibble Close, the planetary gear（212）Revolution body frame is fixed on by rotating shaft（215）With revolution wheel disc（210）Between driving revolution Wheel disc（210）Relative revolution body frame（215）Rotate.
5. a kind of rocker-arm automatic loading manipulator according to claim any one of 1-4, it is characterised in that：It is described universal Adjusting means includes ordering about lower feed box（6）In small frame（51）Bearing of trend compensates mobile compensation adjustment device, orders about blanking Case（6）The skew correction device of transverse rotation amendment, order about lower feed box（6）The horizontal levelling device of vertical rotation leveling；It is described Skew correction device, horizontal levelling device respectively with lower feed box（6）Connection, horizontal levelling device is arranged on skew correction device On, skew correction device is arranged on compensation adjustment device, the small frame of compensation adjustment device and top（51）Connection.
6. a kind of rocker-arm automatic loading manipulator according to claim any one of 1-4, it is characterised in that：The blanking Case（6）Base plate sets opposite opened chamber door or pull chamber door；The opposite opened chamber door includes opening downwards, main by two doors Page composition, split chamber door（61）, and lower feed box（6）Left plate（62）, right plate（63）Interlayer in be respectively provided with one Order about chamber door（61）The door operating gear of keying；The door operating gear includes opening and closing drive device（651）And connection is opened and closed Drive device（651）With chamber door（61）Door linkage；The door linkage includes being arranged on keying drive device（651） One primary push rod of output end（652）Primary push rod is symmetricly set on two（652）The secondary push rod of both sides（653）, and a pair Push rod（653）Correspondence is hinged a door leaf；The primary push rod（652）Middle part and keying drive device（651）Output end is fixed, main Push rod（652）Two ends in cornice shape to both sides extend and respectively with secondary push rod（653）It is hinged；The pull chamber door includes setting In lower feed box（6）The chamber door that base plate, side pull（61）；The chamber door（61）It is whole board structure and chamber door（61）By being arranged on Lower feed box（6）On sliding door drive device（661）Open and close.
7. a kind of rocker-arm automatic loading manipulator according to claim any one of 1-4, it is characterised in that：Also include inspection Survey lower feed box（6）Location status simultaneously order about lower feed box（6）Carry out the control system of location status regulation；The control system includes Installed in lower feed box（6）On sensor cluster and the control module that is connected with sensor cluster；The letter of the control module Number output end connection universal adjusting device simultaneously performs lower feed box by universal adjusting device（6）The regulation action of location status.
8. a kind of rocker-arm automatic loading manipulator according to claim 7, it is characterised in that：The sensor cluster bag Include front end range sensor, height distance sensor, left side range sensor, right side range sensor and horizon sensor group；
The front end range sensor, is embedded in lower feed box（6）On foreboard foremost, for detecting lower feed box（6）Foreboard with The distance between railway carriage inwall；
The height distance sensor, installed in lower feed box（6）In the back plate of rearmost end, for detecting lower feed box（6）Base plate with The distance between load carrying floor；
The left side range sensor, installed in lower feed box（6）In the back plate of rearmost end, for detecting lower feed box（6）Left plate （62）The distance between with railway carriage inwall；
The right side range sensor, installed in lower feed box（6）In the back plate of rearmost end, for detecting lower feed box（6）Right plate （63）The distance between with railway carriage inwall；
The horizon sensor group, is embedded in lower feed box（6）On the base plate of bottom, for feeding back lower feed box（6）Base plate and car The depth of parallelism between case floor.
9. a kind of rocker-arm automatic loading manipulator according to claim any one of 1-4, it is characterised in that：The blanking Case（6）Inside it is provided with push-and-pull material bag to lower feed box（6）The pusher of madial wall；The pusher includes being fixed on blanking Case（6）The pusher drive device at top（642）And installed in pusher drive device（642）Output end and positioned at lower feed box（6） The scraping wings of inner chamber（641）.
10. a kind of rocker-arm automatic loading manipulator according to claim any one of 1-4, it is characterised in that：The master Conveying mechanism（1）Load-bearing grid beam including setting pulley mechanism（11）Be separately mounted to load-bearing grid beam（11）Two grades of lower end send Hopper（13）, one-level box for feeding odd（12）；The one-level box for feeding odd（12）Discharging opening and two grades of box for feeding odd（13）Charging aperture live Dynamic connection and one-level box for feeding odd（12）With two grades of box for feeding odd（13）Between be provided with material guiding mechanism.
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CN201610914199.8A Withdrawn CN106429528A (en) 2016-10-20 2016-10-20 Automatic loading system capable of batch loading of packed materials
CN201720210639.1U Active CN206537985U (en) 2016-10-20 2017-03-06 A kind of loading manipulator of the holding horizontal stacking of entrucking material
CN201720210638.7U Active CN206537968U (en) 2016-10-20 2017-03-06 A kind of rocker-arm automatic loading manipulator
CN201720210346.3U Active CN206654553U (en) 2016-10-20 2017-03-06 A kind of material loader tool hand for compensation adjustment
CN201720210337.4U Active CN206562185U (en) 2016-10-20 2017-03-06 One kind is used for entrucking robot horizontal displacement regulation row frame
CN201710129408.2A Active CN106865243B (en) 2016-10-20 2017-03-06 Automatic material loading mechanical arm control system and control method thereof
CN201720211106.5U Active CN206562179U (en) 2016-10-20 2017-03-06 A kind of automatic material loading machine arm control system
CN201720211083.8U Active CN206562178U (en) 2016-10-20 2017-03-06 A kind of universal adjustment automatic piling loading manipulator
CN201720210339.3U Active CN206562186U (en) 2016-10-20 2017-03-06 A kind of feed device for loading manipulator
CN201710128737.5A Active CN106809655B (en) 2016-10-20 2017-03-06 Rocker arm type automatic loading manipulator

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CN201720210639.1U Active CN206537985U (en) 2016-10-20 2017-03-06 A kind of loading manipulator of the holding horizontal stacking of entrucking material
CN201720210638.7U Active CN206537968U (en) 2016-10-20 2017-03-06 A kind of rocker-arm automatic loading manipulator
CN201720210346.3U Active CN206654553U (en) 2016-10-20 2017-03-06 A kind of material loader tool hand for compensation adjustment
CN201720210337.4U Active CN206562185U (en) 2016-10-20 2017-03-06 One kind is used for entrucking robot horizontal displacement regulation row frame
CN201710129408.2A Active CN106865243B (en) 2016-10-20 2017-03-06 Automatic material loading mechanical arm control system and control method thereof
CN201720211106.5U Active CN206562179U (en) 2016-10-20 2017-03-06 A kind of automatic material loading machine arm control system
CN201720211083.8U Active CN206562178U (en) 2016-10-20 2017-03-06 A kind of universal adjustment automatic piling loading manipulator
CN201720210339.3U Active CN206562186U (en) 2016-10-20 2017-03-06 A kind of feed device for loading manipulator

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CN206562186U (en) 2017-10-17
CN206537968U (en) 2017-10-03
CN106809655B (en) 2023-04-14
CN206537985U (en) 2017-10-03
CN206654553U (en) 2017-11-21
CN206562178U (en) 2017-10-17
CN206562185U (en) 2017-10-17
CN106865243B (en) 2023-04-14
CN106429528A (en) 2017-02-22
CN106865243A (en) 2017-06-20

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