CN106809655B

CN106809655B - Rocker arm type automatic loading manipulator

Info

Publication number: CN106809655B
Application number: CN201710128737.5A
Authority: CN
Inventors: 王建军
Original assignee: MIANYANG LANAO HEAVY MACHINERY MANUFACTURING CO LTD
Current assignee: MIANYANG LANAO HEAVY MACHINERY MANUFACTURING CO LTD
Priority date: 2016-10-20
Filing date: 2017-03-06
Publication date: 2023-04-14
Anticipated expiration: 2037-03-06
Also published as: CN206562179U; CN206562186U; CN206537968U; CN206537985U; CN206654553U; CN206562178U; CN206562185U; CN106865243B; CN106429528A; CN106865243A; CN106809655A

Abstract

The invention discloses a rocker arm type automatic loading manipulator which comprises a mechanical arm and a blanking box arranged at the blanking end of the mechanical arm, wherein a small rack of a rigid structure connected with the blanking box is fixedly arranged on the mechanical arm, and the blanking box is connected with the small rack through a universal adjusting device arranged on the small rack; and a transmission mechanism is arranged in the mechanical arm, and the discharging end of the transmission mechanism is arranged corresponding to the discharging box. According to the invention, the blanking box is flexibly controlled through the universal adjusting device, and the movement of the mechanical arm is matched, so that the material bags loaded by the blanking box can be quickly, accurately and regularly moved to any specified position in the carriage, the problem of an automatic loading blind area is solved, the stacking is accurate, and the automatic loading efficiency is high.

Description

Rocker arm type automatic loading manipulator

Technical Field

The invention relates to the field of automatic loading equipment, in particular to a rocker arm type automatic loading manipulator.

Background

Powder materials are generally packed in bags and then loaded and shipped in the industries of building materials, metallurgy and chemical industry, and the loading process of loading at present mainly depends on manual carrying. In the process that workers carry bagged powder materials to a carriage from a production workshop for loading, the bagged powder materials are in an environment with a large amount of dust diffusion, diseases related to respiratory systems such as pneumoconiosis are easily caused, great harm is brought to physical and mental health of the workers, heavy burden is brought to families of practitioners, and according to statistics of the Ministry of health, 27240 cases of occupational cases in 2014 account for pneumoconiosis 90.2%. The national level has attracted high attention, and the document ' safety supervision general health (2013) No. 112 ' of the national safety supervision bureau on strengthening the work of treating dust hazard of powder processing enterprises such as cement manufacturing and stone materials and the like ' has issued the safety production supervision administration of the military consortium for production and construction of provinces, municipalities, direct jurisdictions and Sinkiang in 11 and 14 parts in 2013. How to solve the loading of the powder material of bagging-off packing and loading in-process and produce a large amount of raise dust problems, also initiated the key concern of trade.

Although the adoption of a bale grabbing robot, a carrying manipulator and other similar equipment can realize mechanized loading, the defects exist: only one batch of material bags can be transported (taken, transported and placed) in one operating period, if one batch of material bags is only one bag, the automatic loading efficiency is low, and if one batch of material bags is a plurality of bags which are arranged in parallel, although certain working efficiency can be improved, the adaptability to different carriage widths is poor, the space of the carriage width is difficult to be fully utilized for stacking and placing the material bags, and the applicable vehicle model is limited or the space in the carriage is wasted in the loading process; on the other hand, the space occupied by the equipment placed or placed in the carriage can lead to the situation that the material bags cannot be stacked in the inner space of the carriage, so that a 'loading blind area' appears.

Even some loading manipulators, transport manipulator stretch into the railway carriage and carry out the problem that the loading blind area can be followed to a certain extent to the operation of automatic packing, the position relatively fixed of the unloading case of its work end of loading manipulator, transport manipulator (promptly unloading end) installation and arm installation, can't carry out relative movement, only can carry out simple unpacking action, can't reach the standard that the material package is neat, accurate pile up neatly.

At present, although nimble manipulator can carry out the accurate of material package and place, nevertheless can't be continuous with a plurality of material packages steady, regular, accurate pile up the loading, consequently can't satisfy industrial production's demand.

Disclosure of Invention

The invention aims to provide a rocker arm type automatic loading manipulator, wherein a discharging box at the working end of a mechanical arm can be universally adjusted to ensure that the discharging box can unload and stack material bags in a regular position state, so that a plurality of material bags are continuously, tidily and accurately stacked in a carriage, the purpose of accurate and efficient blind-area-free loading is achieved, and the stable and efficient full-automatic loading in the industrial production and transportation process is further achieved.

The invention is realized by the following technical scheme: the utility model provides an automatic loading manipulator of rocking arm formula, with the supporting installation of guide rail along railway carriage depth direction setting, including main conveyer frame of slidable mounting on the guide rail and the arm that is located main conveyer frame below, its characterized in that: the device also comprises a slewing gear which is connected with the main conveyor frame and a mechanical arm of the built-in transmission mechanism and enables the mechanical arm to lift or horizontally rotate in the carriage; the feeding end of the mechanical arm is fixedly provided with a small rack of a rigid structure, and the small rack is connected with the feeding box through a universal adjusting device.

According to the invention, a blanking box loaded with a material bag is lifted or horizontally rotated to move quickly to an appointed position (marked as point A) along with a mechanical arm, and is quickly adjusted to the material bag in a regular state corresponding to the current appointed position (point A) through a universal adjusting device, then the blanking box is reloaded with the next material bag falling from a blanking end of a transmission mechanism, the mechanical arm quickly moves the blanking box to the next appointed position (marked as point B) through a small rack, and is quickly adjusted to the material bag in a regular state corresponding to the current appointed position (point B) through the universal adjusting device; by parity of reasoning, the effect of automatically stacking the material bags in the carriage continuously, tidily and accurately is achieved. In the invention, the regular position state of the blanking box means that the bottom plate of the blanking box is parallel to the floor of the carriage and the side plate of the blanking box is parallel to the side wall of the carriage.

According to the invention, a plurality of material packages continuously enter the conveying mechanism one by one from the feeding end of the mechanical arm, and are conveyed one by the conveying mechanism into the blanking box connected with the mechanical arm through the small rack. The position or state of the blanking box in the invention is the result of multi-axis linkage:

firstly, the main conveyor frame drives the whole automatic loading manipulator to move linearly along the front/back of the track;

secondly, the mechanical arm drives the blanking box to lift or horizontally rotate in the carriage under the driving of the slewing device through the small frame;

thirdly, the blanking box performs small-distance linear movement adjustment, horizontal deflection adjustment or vertical inclination adjustment at the working end of the mechanical arm (namely the blanking end of the transmission mechanism) through a universal adjusting device.

Through the multi-axis linkage, the effect of automatically stacking the material bags in the carriage continuously, neatly and accurately is finally realized.

The method specifically comprises the following steps:

when a truck to be loaded stops at a specified loading area, the position of a truck box of the truck to be loaded corresponds to that of the automatic loading manipulator, according to the information such as the coordinate of the truck box and the geometric dimension of the truck box, the automatic loading manipulator drives an actuating mechanism of the whole automatic loading manipulator to carry out position adjustment such as forward movement or backward movement or left movement or right movement along the guide rail through a main adjusting machine frame which is installed in a matching way with the guide rail, so that the position of the truck box is matched in a large direction, and a main conveying arm is lifted into the truck box and is positioned at the middle position of the truck box (equal distance from the inner walls of the left side and the right side of the truck box);

then, the main conveying arm is driven by the rotating device to lift or horizontally rotate in the carriage, and meanwhile, the horizontal deflection angle or the vertical inclination angle or the small-range position of the blanking box is adjusted by the universal adjusting device to be fine-adjusted, so that the blanking box at the working end of the main conveying arm reaches any specified position in the carriage;

meanwhile, the materials to be loaded are conveyed to a working end in a material packing flow mode through a belt conveying mechanism arranged on a main conveyor frame of a main conveying arm, and are stacked at a designated position; when next material package is carried to the work end, the work end has moved to next assigned position under the combined action of main adjusting machine frame and slewer, carries out the pile up neatly of this material package and puts, and the reciprocating motion in proper order, efficient realize according to the design requirement that the material package is neat, standard piling up in the railway carriage.

In the present invention, the control system for acquiring the position of the working end and driving the driving device to operate is used in cooperation with the executing mechanisms such as the main conveying arm, the rotating device, the main adjusting frame, etc., but the main improvement point of the present invention is that the executing mechanism is not in the control system, and therefore the control system is not described in detail.

In order to better realize the material bag conveying device, the conveying mechanism further comprises a belt conveying driving device, a driving roller, a driven roller and a conveying belt, and the belt conveying driving device drives the conveying belt arranged on the driving roller and the driven roller to rotate through the driving roller so as to realize the material bag conveying.

In order to better implement the present invention, the swiveling device further includes a lifting adjustment mechanism for driving the mechanical arm to lift, and a horizontal rotation adjustment mechanism for driving the mechanical arm to horizontally adjust the rotation declination.

In order to better realize the invention, the horizontal rotation adjusting mechanism further comprises a rotary frame connected with the main conveyor frame into a whole, a traveling frame rotationally connected with the rotary frame and a servo motor driving the traveling frame to rotate; the lifting adjusting mechanism comprises a lifting rotating shaft which is fixedly arranged on the walking frame and is hinged with the mechanical arm, and a lifting driving device which supports and drives the mechanical arm to adjust the lifting angle.

In order to better realize the invention, the rotary frame comprises a rotary main frame fixedly connected with the traveling frame and a rotary wheel disc embedded in the rotary main frame, the servo motor is mounted on the upper surface of the rotary main frame and is in driving connection with a driving gear arranged at the center of the rotary wheel disc through a speed reducer, one side of the rotary wheel disc, close to the driving gear, is provided with a gear tooth, the gear tooth is meshed with the driving gear through a plurality of planetary gears, and the planetary gears are fixed between the rotary main frame and the rotary wheel disc through rotating shafts so as to drive the rotary wheel disc to rotate relative to the rotary main frame.

The gyration frame includes the gyration rim plate with bank fixed connection's gyration body frame and embedding in the gyration body frame, surface mounting has on the gyration body frame servo motor, servo motor pass through the speed reducer and are connected with the drive gear drive that sets up at gyration rim plate center, the gyration rim plate is close to drive gear one side and is provided with the teeth of a cogwheel just the teeth of a cogwheel are through a plurality of planetary gear and drive gear meshing, planetary gear fixes through the pivot and revolves the relative gyration body frame rotation of rim plate with the drive between gyration body frame and the gyration rim plate.

Further preferably, a plurality of stabilizing steel balls which are abutted against each other are arranged between the outer circumference of the rotary wheel disc and the inner circumference of the rotary main frame.

Still further preferably, the number of the planetary gears is three and a central angle between two adjacent planetary gears is 120 °.

In order to further facilitate the conveying of the materials, it is further preferable that the feeding device includes a roller feeding mechanism installed at the feeding port, and a conveyor belt feeding mechanism communicating the roller feeding mechanism and the mechanical arm.

In order to achieve the smoothness of material conveying, preferably, the roller feeding structure comprises a plurality of rollers which are used for conveying materials and are arranged in parallel, the rollers are driven by chains, and the rollers at the ends are connected with feeding servo motors which provide power.

In order to better realize the invention, the universal adjusting device further comprises a compensation adjusting device for driving the blanking box to perform compensation movement in the extension direction of the small rack, an inclined correcting device for driving the blanking box to perform transverse rotation correction, and a horizontal leveling device for driving the blanking box to perform vertical rotation leveling; the deviation correcting device and the horizontal leveling device are respectively connected with the blanking box, the horizontal leveling device is arranged on the deviation correcting device, the deviation correcting device is arranged on the compensation adjusting device, and the compensation adjusting device is connected with the small rack above the deviation correcting device and the horizontal leveling device.

The universal adjusting device comprises a compensation adjusting device, a deflection correcting device and a horizontal leveling device. According to the invention, through the universal adjusting device mainly comprising the compensation adjusting device, the deviation correcting device and the horizontal leveling device, when the blanking box unloads and stacks material packages at any position in the carriage, the blanking box can be adjusted to be in a regular state, namely, the side plate of the blanking box is parallel to the inner side wall of the carriage, and the bottom plate of the blanking box is parallel to the floor of the carriage.

Whether the blanking box is in a regular state needs to be detected by each sensor in the sensor assembly and fed back to the control module, and then the control module calculates and analyzes: if the blanking box is in a regular state at the current position, no action is needed; if the blanking box is not in the regular state of the current position, the position state of the blanking box needs to be adjusted, the output end of the control module sends a control signal to a driving device in the compensation adjusting device or the deflection correcting device or the horizontal leveling device to drive a mechanical structure executed in the compensation adjusting device or the deflection correcting device or the horizontal leveling device to act, and the position state adjustment of the blanking box is realized.

In the invention, the blanking box is connected with the small rack through the compensation adjusting device, and the following effects can be realized: the feed box compensates the removal around the mechanical arm work end small-range to the distance between adjustment feed box and the terminal body of mechanical arm. On one hand, when the mechanical arm is stable and motionless, the blanking box moves back and forth in a compensating way relative to the mechanical arm, so that the position of the blanking box in a small range can be adjusted, more orderly and accurate stacking can be realized, the integral moving frequency of the mechanical arm can be reduced, the position adjustment response is fast, and the structure is simple; on the other hand, when the mechanical arm swings in the vertical direction (namely, the working end of the mechanical arm is too high or lowered), the stroke of the adjustment of the position state of the blanking box is not interfered by the mechanical arm body. That is to say, can make the blanking box move a certain distance forward or backward through compensation adjusting device, no matter whether the arm moves, guarantee all the time that the material package falls into the blanking box when dropping from the transport mechanism who installs in the arm just, and the stroke of blanking box position state adjustment is not disturbed by the arm body.

In the invention, the deflection correction device transversely rotates the blanking box, so that the following effects can be realized: and the transverse rotation of the blanking box is adjusted to be in a regular state that the side plates of the blanking box are parallel to the side walls of the carriage. The blanking box is almost a cuboid. Therefore, the lower box side plate is parallel to the side wall of the carriage, and specifically means that: the left side plate/right side plate of the lower box is parallel to the left side wall/right side wall of the carriage, or the front side plate of the lower box is parallel to the front side wall of the carriage. Under this state, when the material package of loading in the unloading case drops, also parallel with the railway carriage lateral wall to guarantee that each material package is violently flat vertical drops in order to carry out neat pile up neatly.

According to the automatic stacking device, the blanking box is vertically rotated through the horizontal leveling device, so that the bottom plate of the blanking box is parallel to the bottom plate of the carriage when the material bags are stacked and placed in the carriage, when the material bags are automatically stacked by the loading manipulator, the material bags (boxes or bags) which are approximately cuboid fall freely from the blanking box, then the material bags basically contact the lower floor or the front material bag through a large contact surface, the material bags can be stacked more stably and tidily, and the material bags stacked at a high position are not easy to fall.

In order to better realize the invention, the compensation adjusting device further comprises a compensation power device fixedly arranged on the small rack and a compensation transmission assembly arranged at the output end of the compensation power device, wherein the lower end of the compensation transmission assembly is connected with the blanking box and drives the blanking box, the deflection correcting device connected with the blanking box and the horizontal leveling device connected with the blanking box to move together.

In the invention, the compensation transmission assembly is any one of a screw transmission assembly, a worm and gear transmission assembly, a gear rack transmission assembly, a connecting rod transmission assembly, an eccentric connecting rod transmission assembly and a belt transmission assembly.

In order to better realize the invention, the deflection correcting device comprises a correcting support frame, a correcting driving device and a correcting transmission device arranged at the output end of the correcting driving device, wherein the correcting support frame comprises a support base frame of which the upper end is connected with the small frame and a rotating support piece which is rotatably connected to the lower end of the support base frame, the bottom of the rotating support piece is fixedly connected with the blanking box, and the correcting driving device arranged on the correcting support frame drives the rotating support piece to rotate through the correcting transmission device so as to drive the blanking box to correct the deflection angle; the compensation adjusting device drives the blanking box to move together through the supporting base frame and the rotating supporting piece which are connected with each other.

In the invention, the correction transmission device comprises a correction wheel in transmission connection with the correction driving device, and the rotary support piece is provided with a correction groove matched with the outer contour of the correction wheel.

In order to better realize the invention, the horizontal leveling device comprises a leveling support frame, a leveling driving device and a leveling transmission device arranged at the output end of the leveling driving device, the leveling support frame comprises a leveling base frame arranged on the deflection correcting device and a leveling rotating frame hinged below the leveling base frame, the bottom of the leveling rotating frame is fixedly connected with the blanking box, and the leveling driving device arranged on the leveling support frame drives the leveling rotating frame to rotate through the leveling transmission device so as to drive the blanking box to adjust the parallelism of the bottom plate of the blanking box and the bottom plate of the carriage.

In order to better realize the invention, the bottom plate of the blanking box is further provided with a split box door or a pull box door; the split type box door comprises a box door which is opened downwards, mainly comprises two door leaves and is split, and door opening and closing devices for driving the box door to open and close are respectively arranged in interlayers of a left side plate and a right side plate of the blanking box; the door opening and closing device comprises an opening and closing driving device and a door connecting rod device which is connected with the opening and closing driving device and the box door; the door connecting rod device comprises a main push rod and two auxiliary push rods, wherein the main push rod is arranged at the output end of the opening and closing driving device, the two auxiliary push rods are symmetrically arranged on two sides of the main push rod, and one auxiliary push rod is correspondingly hinged with one door leaf; the middle part of the main push rod is fixed with the output end of the opening and closing driving device, and two ends of the main push rod extend towards two sides in an eave shape and are respectively hinged with the auxiliary push rods; the pulling type box door comprises a box door arranged on the bottom plate of the blanking box and pulled at the side surface; the box door is of a whole plate structure and is opened and closed through a sliding door driving device arranged on the blanking box.

In order to better realize the invention, the invention further comprises a control system for detecting the position state of the blanking box and driving the blanking box to adjust the position state; the control system comprises a sensor assembly arranged on the blanking box and a control module connected with the sensor assembly; and the signal output end of the control module is connected with the universal adjusting device and used for executing the adjustment action of the position state of the blanking box through the universal adjusting device.

In order to better implement the invention, further, the sensor assembly comprises a front-end distance sensor, a height distance sensor, a left-side distance sensor, a right-side distance sensor and a horizontal sensor group;

the front end distance sensor is embedded in the front plate at the foremost end of the blanking box and is used for detecting the distance between the front plate of the blanking box and the inner wall of the carriage;

the height distance sensor is arranged on a rear plate at the rearmost end of the blanking box and used for detecting the distance between a bottom plate of the blanking box and the floor of the carriage;

the left distance sensor is arranged on a rear plate at the rearmost end of the blanking box and used for detecting the distance between a left side plate of the blanking box and the inner wall of the carriage;

the right distance sensor is arranged on the rear plate at the rearmost end of the blanking box and used for detecting the distance between the right side plate of the blanking box and the inner wall of the carriage;

the horizontal sensor group is embedded on the bottom plate at the lowest end of the blanking box and used for feeding back the parallelism between the bottom plate of the blanking box and the floor of the carriage.

In order to better realize the invention, a material pushing mechanism for pushing and pulling the material bag to the inner side wall of the blanking box is further arranged in the blanking box; the material pushing mechanism comprises a material pushing driving device fixed at the top of the blanking box and a material pushing plate which is arranged at the output end of the material pushing driving device and is positioned in the inner cavity of the blanking box.

In order to better realize the invention, the main conveyor frame comprises a bearing frame beam provided with a pulley mechanism, and a secondary feeding box and a primary feeding box which are respectively arranged at the lower end of the bearing frame beam; the discharge port of the first-stage feeding box is movably connected with the feed port of the second-stage feeding box, and a material guide mechanism is arranged between the first-stage feeding box and the second-stage feeding box.

In the invention, the material pushing mechanism can ensure that the material bag loaded in the blanking box is tightly attached to the inner side wall (left inner side wall or right inner side wall) of the blanking box: on one hand, the material pushing mechanism pushes the material bag to make the material bag tightly attached to the inner side wall of the blanking box and fall off, so that the material bag can fall off and be stacked along the side wall of the carriage to fully utilize the inner space of the carriage; on the other hand, all material packages of the same batch fall from the same position in the blanking box, so that the accurate positioning and the tidy stacking are facilitated.

In order to better implement the invention, the pushing mechanism is further provided with two groups of pushing driving devices and pushing plates which correspond to each other one by one, and the two groups of pushing driving devices and the pushing plates which correspond to each other one by one are arranged in an opposite staggered manner.

In the invention, a group of corresponding material pushing driving devices and material pushing plates can push a material bag to move towards the left inner side wall of the blanking box and be attached to the left inner side wall of the blanking box; meanwhile, the other group of corresponding material pushing driving devices and material pushing plates can push the material packages to move towards the inner side wall of the middle right of the blanking box and be attached.

Compared with the prior art, the invention has the following advantages and beneficial effects:

(1) The blanking box is connected with a small rack arranged on a mechanical arm through a universal adjusting device, the universal adjusting device controls the blanking box to adjust the blanking position and the blanking angle, and the material bags in the blanking box are ensured to be regularly stacked in a carriage in the automatic loading process;

(2) The universal adjusting device can accurately control the action of the blanking box, and the material bag can stably and accurately fall to a specified position from the blanking box in a large area by matching with the motion of the mechanical arm, so that accurate stacking is realized;

(3) According to the invention, the slewing device drives the mechanical arm to rotate horizontally or lift vertically;

(4) The blanking box is flexibly moved under the driving of the universal adjusting device, can quickly reach any appointed material stacking position in the carriage, effectively solves the problem of dead zone of loading, and has high automatic loading efficiency and high space utilization rate of the carriage.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural diagram of the compensation adjustment device of the present invention.

Fig. 3 is a schematic structural diagram of the offset transmission device in the compensation adjustment device as a lead screw transmission assembly.

Fig. 4 is a schematic structural diagram of the offset transmission device in the compensation adjustment device as a link transmission assembly.

Fig. 5 is a schematic structural diagram of the offset transmission device in the compensation adjustment device being a deflection link transmission assembly.

Fig. 6 is a schematic structural diagram of the offset transmission device in the compensation adjustment device, which is a scissor type telescopic assembly.

Fig. 7 is a schematic structural diagram of the skew correction apparatus of the present invention.

Fig. 8 is a partially enlarged schematic view of the deflection correcting device a in fig. 7.

Fig. 9 is a schematic structural diagram of a skew correcting device driven by a belt assembly.

Fig. 10 is a schematic structural view of the horizontal leveling device of the present invention.

Fig. 11 is a left side view of the horizontal leveling device.

FIG. 12 is a schematic view showing a state before the lower tank is tilted, i.e., leveled, in the leveling device.

Fig. 13 is a schematic structural view of a pushing mechanism in the blanking box.

Fig. 14 is a schematic structural view of a door opening and closing device when the door of the blanking box is in a split type.

Fig. 15 is a schematic bottom view of the box door in the drop box in a side-pull type.

Fig. 16 is a schematic structural view of the turning device.

Fig. 17 is a schematic structural view of the horizontal rotation driving device.

Fig. 18 is a schematic view of the internal structure of the main conveyor frame.

Wherein: 1-main conveyor frame, 11-bearing frame beam, 12-primary feeding box, 13-secondary feeding box, 2-rotary device, 21-rotary frame, 210-rotary wheel disc, 211-driving gear, 212-planetary gear, 215-rotary main frame, 22-traveling frame, 23-lifting rotary shaft, 24-lifting driving device, 25-horizontal rotary driving device, 3-transmission mechanism, 4-mechanical arm, 51-small frame, 52-offset power device, 501-lead screw, 502-slide block, 503-supporting seat, 504-linear guide rail pair, 511-first push rod, 512-first push block, 513-narrow groove, 521-transmission disc, 522-second push rod, 523-second push block, 531-fork rod, 532-third pushing block, 541-correction driving device, 542-correction supporting frame, 5421-supporting base frame, 5422-rotating supporting piece, 543-correction transmission device, 5431-correction wheel, 5432-belt component, 551-leveling driving device, 552-leveling supporting frame, 5521-leveling base frame, 5522-leveling rotating frame, 553-leveling transmission device, 5531-leveling driving wheel, 5532-leveling transmission rib, 5533-hinge lug, 5534-spline coupling sleeve, 6-blanking box, 61-box door, 62-left side plate, 63-right side plate, 641-pushing plate, 642-pushing driving device, 651-start and stop driving device, 652-main pushing rod, 653-auxiliary pushing rod, 661-sliding door driving device, 662-scissor type connecting rods.

Detailed Description

When the automatic loading equipment loads, the general loading follows the principle as follows: from side to side, from bottom to top, from inside to outside. For example: first layer material package is put things to the opposite side sign indicating number from a side that the railway carriage is inside to be close to locomotive one end earlier, then carries out the putting things in good order of second layer material package at same horizontal row, and this horizontal row material package is put things in good order after finishing, and the multilayer that the outward movement carried out horizontal row material package of second is put things in good order, analogizes in proper order, accomplishes the loading of putting things in good order of all material packages.

As shown in fig. 3 and 10, the movement of the robot arm 4 in the present invention is limited to four types, i.e., a horizontal linear motion, a horizontal swing, a vertical linear motion, and a vertical swing, wherein: the linear motion in the horizontal direction refers to forward, backward, left and right movement of the corresponding XY plane; the horizontal swing refers to left and right turns of the corresponding XY plane; the linear motion in the vertical direction refers to the ascending and descending of the corresponding YZ plane; the vertical swing refers to upward and downward rotation of the YZ plane.

The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.

Example 1:

the automatic loading manipulator of rocking arm formula of this embodiment, as shown in fig. 1, including arm 4 and install the blanking box 6 at arm 4 unloading end, its characterized in that: a small rack 51 with a rigid structure connected with the blanking box 6 is fixedly arranged on the mechanical arm 4, and the blanking box 6 is connected with the small rack 51 through a universal adjusting device arranged on the small rack 51; and a transmission mechanism is arranged in the mechanical arm 4, and the discharging end of the transmission mechanism is arranged corresponding to the discharging box 6.

The small rack 51 can play a guiding role when the blanking box 6 moves in a compensating way, and can play a role in assisting the blanking box 6 and the material bag loaded in the blanking box 6 in bearing.

In this embodiment, a plurality of material packs are successively fed into the transfer mechanism from the upper end of the robot arm 4 one by one, and are transferred by the transfer mechanism one by one into the hopper 6 connected to the robot arm 4 via the small rack 51. The working end of the mechanical arm 4 drives the blanking box 6 to move along with any one or more of the linear motion in the horizontal direction, the swing in the horizontal direction, the linear motion in the vertical direction and the swing in the vertical direction through the small rack 51 with a rigid structure, and meanwhile, the universal adjusting device drives the blanking box 6 to perform universal adjustment, so that the blanking box 6 can be adjusted to be in a regular state when being positioned at any position in a carriage, and continuous, accurate and tidy automatic loading and stacking operation of the loading manipulator is realized.

In this embodiment, the main actuators are linked to each other:

the main conveyor frame 1 drives the whole automatic loading manipulator to move forwards/backwards linearly along the guide rail;

the swing mechanism 2 drives the mechanical arm, the small rack and the blanking box to horizontally rotate and swing together, and simultaneously lifts or descends for adjustment;

the small rack 51 is arranged at the working end of the mechanical arm 4, extends towards the extending direction of the mechanical arm 4, has a rigid structure, and is used for connecting the mechanical arm 4 and the blanking box 6 into a whole and supporting the blanking box 6 with universal adjustment and material bags loaded in the blanking box 6;

the universal adjusting device is arranged on the small rack 51, connected with the blanking box 6 and used for driving the blanking box 6 to adjust the position state at the working end of the mechanical arm 4;

the mechanical arm 4 is used for driving the blanking box 6 to move to a larger extent through the small rack 51;

the conveying mechanism 3 is arranged in the mechanical arm 4 and used for continuously conveying the material packages into the blanking box 6 one by one.

The blanking box 6 is arranged below the small rack 51 through a universal adjusting device and used for loading material bags to an appointed position and stacking the material bags in a regular state.

The automatic material packaging and stacking machine comprises a main conveyor frame 1, a swing mechanism 2, a transmission mechanism 3, a mechanical arm 4, a small frame 51, a universal adjusting device and a blanking box 6, and the main conveyor frame, the swing mechanism 2, the transmission mechanism, the mechanical arm 4, the small frame 51, the universal adjusting device and the blanking box form a main mechanical structure corresponding to the automatic material packaging and stacking machine.

Example 2:

the embodiment further discloses the structure of the universal adjusting device. A rocker arm type automatic loading manipulator comprises a mechanical arm 4 and a blanking box 6 arranged at the blanking end of the mechanical arm 4, wherein a small rack 51 of a rigid structure connected with the blanking box 6 is fixedly arranged on the mechanical arm 4, and the blanking box 6 is connected with the small rack 51 through a universal adjusting device arranged on the small rack 51; and a transmission mechanism is arranged in the mechanical arm 4, and the discharging end of the transmission mechanism is arranged corresponding to the discharging box 6.

The universal adjusting device comprises a compensation adjusting device, a deflection correcting device and a horizontal leveling device. According to the invention, through the universal adjusting device mainly comprising the compensation adjusting device, the deflection correcting device and the horizontal leveling device, when the blanking box 6 unloads and stacks material packages at any position in the carriage, the material packages can be adjusted to be in a regular state, namely, the side plate of the blanking box 6 is parallel to the inner side wall of the carriage, and the bottom plate of the blanking box 6 is parallel to the floor of the carriage.

As shown in fig. 2, the compensation adjustment device includes a compensation power device 52 fixedly mounted on the small frame 51 and a compensation transmission assembly mounted at the output end of the compensation power device 52, and the lower end of the compensation transmission assembly is connected with the blanking box 6 and drives the blanking box 6, the skew correction device connected with the blanking box 6, and the horizontal leveling device connected with the blanking box 6 to move together.

As shown in fig. 3, 4, 5 and 6, in the present invention, the compensation transmission assembly is any one of a screw transmission assembly, a worm and gear transmission assembly, a rack and pinion transmission assembly, a link transmission assembly, an eccentric link transmission assembly and a belt transmission assembly.

In the embodiment, the compensation power device 52 drives the discharging box 6 to perform compensation movement within the range of the small rack 51 through a compensation transmission assembly in the small rack 51; at the same time, the small frame 51 bears the weight of the blanking box 6 and the material bags loaded in the blanking box 6. Relative to the movement of the mechanical arm 4, the compensation power device 52 drives the movement of the blanking box 6 to be micro-movement within a small range through the compensation transmission assembly.

When the stacking position needs to be moved from the upper horizontal row to the lower horizontal row in the automatic loading process: if the positions of the mechanical arm 4 and the blanking box 6 are relatively fixed, the mechanical arm 4 must be moved to realize the movement of the blanking box 6 corresponding to the stacking position; if the structure described in this embodiment is adopted, since the discharging box 6 can perform position compensation movement relative to the robot arm 4 body, the robot arm 4 is kept stationary, and the discharging box 6 is driven to perform compensation movement only by the compensation power device 52 and the compensation transmission assembly.

Another kind, arm 4 is a can the horizontal hunting can also vertical lifting swing's arm 4, and the axle center position of 4 horizontal hunting of arm is unchangeable, can realize basically through the regulation of 4 horizontal hunting angles of arm that the action that the 6 pile up neatly positions of workbin of unloading moved to the railway carriage opposite side from railway carriage one side: if the positions of the mechanical arm 4 and the blanking box 6 are relatively fixed, the actual moving track of the blanking box 6 is an arc instead of a straight line, and irregular stacking and inaccurate positions can be caused; if adopt in this embodiment the structure because the workbin 6 can carry out the compensation removal in position relatively 4 bodies of arm, so in the process that arm 4 drove workbin 6 and carries out lateral shifting, compensation power device 52, compensation transmission assembly drive workbin 6 and carry out the compensation removal of small distance, can guarantee that the pile up neatly position is horizontal flat vertical, neat one of marking.

In order to stabilize the compensating movement of the blanking box 6, the transmission device is connected to the small frame 51 in a sliding manner. One of the sliding connection modes of the transmission device and the small rack 51 is a pulley type, namely, a sliding rail or a sliding way is arranged on the small rack 51, a pulley corresponding to the sliding rail or the sliding way is arranged on the transmission device, and the pulley rolls on the sliding rail or the sliding way in the process of driving the blanking box 6 to move by the transmission device; the second sliding connection mode of the transmission device and the small rack 51 is a ball type, namely, a retainer is arranged on the small rack 51, the transmission device is in contact with a plurality of balls arranged in the retainer, and the balls rotate in the process that the transmission device drives the blanking box 6 to move, so that the transmission device is supported and the movement of the transmission device is not influenced.

The small rack 51 may be provided with a track for further limiting the linear motion of the sliding end of the sliding device, or the sliding end of the sliding device may be limited only by the mechanical size, so that the sliding device can be connected with a lower blanking device and can move linearly on the small rack 51.

The power device 52 takes a servo motor as a power source; the transmission device is a lead screw transmission assembly. The output shaft of the servo motor is connected with a screw 501 in the screw transmission assembly through a coupler. The lead screw 501 is sleeved with a slide block 502 connected with the blanking box 6.

In order to further stabilize the movement of the blanking box 6, one end of the supporting seat 503 is fixed on the small frame 51, and the other end of the supporting seat 503 is provided with a bearing matched with the screw 501. This structure can improve 501 working strength of lead screw, the driven stability of better guarantee.

In order to further stabilize the movement of the blanking box 6, the cross section of the sliding block 502 is C-shaped, and the supporting base 503 is provided with a sliding groove matching with the outer contour of the sliding block 502. The sliding groove is matched with a sliding block 502 with a C-shaped cross section, and the C-shaped butt joint structure can play a role in guiding and further assist bearing, so that the stability of the sliding end of the sliding device in moving is ensured. On one hand, the C-shaped butt joint structure has large contact area and more stable relative movement; on the other hand, the sliding block 502 with the C-shaped cross section can be machined in a mode of turning the outer circle and then grinding the plane, so that the machining cost is low; on the other hand, the plane of the C-shaped sliding block 502 is conveniently and fixedly connected with the lower blanking box 6.

In order to further stabilize the movement of the feed box 6, the slide 502 and the screw 501 form a ball screw pair.

In order to further stabilize the movement of the blanking box 6, a linear guide rail pair 504 for assisting in supporting the blanking box 64 is further arranged on the small rack 51; the linear guide rail pair 504 comprises a fixed guide rail fixedly mounted on the small rack 51 and a buffer slide block slidably mounted on the fixed guide rail, limit buffer blocks are arranged on two sides of the buffer slide block, and limit baffles corresponding to the limit buffer blocks are arranged at two ends of the fixed guide rail.

As shown in fig. 7, 8 and 9, the deflection correcting device includes a correcting support frame, a correcting driving device and a correcting transmission device disposed at an output end of the correcting driving device, the correcting support frame includes a support base frame having an upper end connected to the small frame 51 and a rotating support member rotatably connected to a lower end of the support base frame, a bottom of the rotating support member is fixedly connected to the blanking box 6, and the correcting driving device mounted on the correcting support frame drives the rotating support member to rotate through the correcting transmission device to drive the blanking box 6 to correct the deflection angle; the compensation adjusting device drives the blanking box 6 to move together through the supporting base frame and the rotating supporting piece which are connected with each other.

The deflection correction device comprises a correction support frame 542, a correction driving device 541 and a correction transmission device 543 arranged at the output end of the correction driving device 541, wherein the correction support frame 542 comprises a support base frame 5421 with the upper end connected with the small rack 51 and a rotating support piece 5422 rotatably connected to the lower end of the support base frame 5421, the bottom of the rotating support piece 5422 is fixedly connected with the blanking box 6, and the correction driving device 541 mounted on the correction support frame 542 drives the rotating support piece 5422 to rotate through the correction transmission device 543 so as to drive the blanking box 6 to correct the deflection angle.

The body of the correction driving device 541 is fixed, and the output end of the correction driving device 541 drives the blanking box 6 to rotate left and right in the horizontal direction through the correction transmission device 543. The body of the correction driving device 541 can be directly fixed on the small rack 51, and the blanking box 6 can only rotate left and right in the horizontal direction at the moment; the correction driving device 541 may have its body fixed to a correction support 542 attached to the small frame 51, and in this case, the lower box 6 may be rotated not only in the horizontal direction but also in the front-rear/left-right directions on the small frame 51 together with the correction support 542.

The correcting support 542 is mainly used for connection and support. The upper part of the correction support frame 542 is a support base frame 5421 connected with the small rack 51, the lower part is a rotary support piece 5422 connected with the blanking box 6, and the support base frame 5421 and the rotary support piece 5422 are rotationally connected into a whole. The supporting base frame 5421 may be fixedly installed on the small frame 51, or may be slidably connected to the small frame 51. The rotary support 5422 drives the lower blanking box 6 to rotate left and right in the horizontal direction. The whole correction support frame 542 not only ensures that the blanking box 6 and the small rack 51 are connected into a whole, but also does not limit the action of left-right rotation of the blanking box 6.

In this embodiment, the blanking box 6 connected to the small frame 51 through the correction support 542 can rotate left and right under the action of the correction drive 541 and the correction transmission 543, thereby realizing the skew correction.

The correction transmission device 543 comprises a correction wheel 5431 in transmission connection with the correction drive device 541, and the rotary support part 5422 is provided with a correction groove matching with the outer contour of the correction wheel 5431. In this embodiment, the profile matching between the correction wheel 5431 and the correction groove is for effective transmission and preventing slipping.

The correction gear 5431 is a correction gear with gear teeth arranged on an outer ring, the correction groove comprises an optical groove and a correction gear ring fixedly arranged in the optical groove, and an inner contour of the correction gear ring is just matched with an outer contour of the correction gear. The transmission is carried out in a gear meshing mode, and the transmission stability is ensured. And the correction gear can be directly purchased on the market, and the purchase of standard parts is favorable for controlling the equipment cost.

Of course, the correction wheel 5431 is not limited to the correction gear, but may be of other configurations, such as: the cross section of the correction wheel 5431 has a cam shape, an elliptical shape, or a polygonal shape.

The output end of the correction driving device 541 is further provided with a dust cover covering the outside of the correction transmission device 543. The dust cover is used for preventing dust, and especially when automatic loading is carried out in the great environment of dust such as cement package, flour package, effectively prevent that the dust from getting into inside the manipulator, can prolong equipment life.

After the mechanical arm 4 extends into the carriage, the blanking box 6 is moved to a position to be stacked, the deflection correction device drives the blanking box 6 to rotate left and right in the horizontal direction to correct deflection, the side wall of the blanking box 6 is enabled to be parallel to the side wall of the carriage all the time, and then material bags placed in the blanking box 6 along the edge freely fall down from the blanking box 6 to be stacked. Repeating the above actions, the automatic loading manipulator can transversely, vertically and neatly stack a plurality of material bags at the designated positions in the carriage. The structure effectively solves the problem of the blind area of automatic loading, and can fully utilize the space of the carriage.

As shown in fig. 9, the skew correcting device adopts a belt assembly transmission structure.

As shown in fig. 10, fig. 11, and fig. 12, the horizontal leveling device includes a leveling support frame, a leveling driving device, and a leveling transmission device disposed at an output end of the leveling driving device, the leveling support frame includes a leveling base frame installed on the skew correction device, and a leveling rotating frame hinged below the leveling base frame, a bottom of the leveling rotating frame is fixedly connected to the discharging box 6, and the leveling driving device installed on the leveling support frame drives the leveling rotating frame to rotate through the leveling transmission device to drive the discharging box 6 to adjust parallelism of a bottom plate of the discharging box 6 and a bottom plate of the carriage.

The horizontal leveling device comprises a leveling support frame 552, a leveling driving device 551 and a leveling transmission device 553 arranged at the output end of the leveling driving device 551, the leveling support frame 552 comprises a leveling base frame 5521 with the upper end connected with the small rack 51 and a leveling rotating frame 5522 hinged below the leveling base frame 5521, the bottom of the leveling rotating frame 5522 is fixedly connected with the blanking box 6, and the leveling driving device 551 arranged on the leveling support frame 552 drives the leveling rotating frame 5522 to rotate through the leveling transmission device 553 so as to drive the blanking box 6 to adjust the parallelism of the bottom plate of the blanking box 6 and the bottom plate of the carriage.

In this embodiment, as shown in fig. 12, the lower tank 6 in the horizontal leveling device is inclined, that is, in a state before horizontal leveling. The leveling driving device 551 drives the discharging box 6 to rotate in the vertical direction (corresponding to the YZ plane) through the leveling transmission device 553, and the bottom plate of the discharging box 6 is always parallel to the floor of the carriage no matter the mechanical arm 4 rotates upwards or downwards.

In this embodiment, the leveling support frame 552 is connected to the small rack 51 and the discharging box 6, so that the discharging box 6 is connected to the mechanical arm 4 through the small rack 51, and the discharging box 6 can flexibly move and adjust the inclination of the bottom plate and the floor at the discharging end of the mechanical arm 4. The leveling support frame 552 comprises a leveling base frame 5521 and a leveling rotating frame 5522 which are hinged to each other, wherein the leveling base frame 5521 is used for installing a leveling driving device 551 and connecting the small machine frame 51, and the leveling rotating frame 5522 is used for loading the blanking box 6. The leveling swivel 5522 should not only load the blanking box 6 and the material bag therein, but also not interfere with the rotation of the blanking box 6 in the vertical direction. One end of the leveling transmission device 553 is connected with the output end of the leveling driving device 551, and the other end is connected with the leveling rotating stand 5522 and drives the blanking box 6 to rotate together through the leveling rotating stand 5522.

The leveling transmission device 553 comprises a leveling driving wheel 5531 in transmission connection with the leveling driving device 551; the top of the leveling rotating frame 5522 is provided with a leveling transmission rib 5532 which crosses the blanking box 6, and the leveling transmission rib 5532 is provided with an articulated lug 5533 which is articulated with the leveling frame; the leveling driving wheel 5531 drives the discharging box 6 to rotate in the vertical direction through the leveling transmission rib 5532.

The outer profile of the leveling driving wheel 5531 and the leveling transmission rib 5532 are respectively provided with transmission teeth which are meshed with each other.

The transmission gear is straight gear or helical gear.

In the embodiment, the transmission is carried out through the transmission teeth, the transmission process is not easy to slip, the transmission efficiency is high, and the working performance is stable. In the whole system operation process, the operation stability of the whole mechanical arm 4 can be guaranteed.

The leveling driving wheel 5531 is directly connected with an output shaft of the leveling driving device 551 through a key, or the leveling driving wheel 5531 is in transmission connection with an output shaft of the leveling driving device 551 through an adapter. The adapter is a spline coupling sleeve 5534 which is connected with the output shaft of the leveling driving device 551 through keys, and the spline coupling sleeve 5534 and the leveling driving wheel 5531 are respectively provided with external splines for spline connection.

The performance of the servo motor can influence the compensation moving precision, and the MR-E series and the MR-J series of Mitsubishi corporation can be selected in the embodiment, so that the response speed is high, the control precision is high, and the operation is stable. Of course, as the technology develops and advances, a servo motor with better performance can be selected.

Other parts of this embodiment are the same as embodiment 1, and thus are not described again.

Example 3:

the present embodiment is further optimized based on embodiment 1 or 2, and as shown in fig. 1, a rocker arm type automatic loading manipulator includes a mechanical arm 4, a blanking box 6 mounted at a blanking end of the mechanical arm 4, and a control system for detecting a position state of the blanking box 6 and driving the blanking box 6 to perform position state adjustment. A small rack 51 with a rigid structure connected with the blanking box 6 is fixedly arranged on the mechanical arm 4, and the blanking box 6 is connected with the small rack 51 through a universal adjusting device arranged on the small rack 51; and a transmission mechanism is arranged in the mechanical arm 4, and the discharging end of the transmission mechanism is arranged corresponding to the discharging box 6.

The control system comprises a sensor assembly arranged on the blanking box 6 and a control module connected with the sensor assembly; and the signal output end of the control module is connected with the universal adjusting device and used for executing the adjusting action of the position state of the blanking box 6. The sensor assembly and the control module in the control system form a main control structure corresponding to the automatic material packaging, loading and stacking.

in this embodiment, the front-end distance sensor, the height distance sensor, the left-side distance sensor, and the right-side distance sensor are all distance sensors. In this embodiment, the horizontal sensor group may be composed of two distance sensors or may be a horizontal gyroscope.

When the horizontal sensor group consists of two distance sensors, the two distance sensors detect the distance between the measuring point and the carriage floor: if the mounting depths of the two distance sensors are the same, when the two detected values are the same, the bottom plate of the blanking box 6 is parallel to the floor of the carriage; if the difference between the installation depths of the two distance sensors is delta h, the bottom plate of the blanking box 6 is parallel to the floor of the carriage when the two detected values and the delta h meet the corresponding relation. The simple numerical relationship, the working principle of which is the current and not the improvement point of the present invention, is not described again.

When the horizontal sensor group is a horizontal gyroscope, and the inclination angle measured by the horizontal gyroscope is consistent with that of the carriage floor, the bottom plate of the blanking box 6 is parallel to the carriage floor. The simple numerical relationship, the working principle of which is the current and not the improvement point of the present invention, is not described again.

The front-end distance sensor, the height distance sensor, the left-side distance sensor, the right-side distance sensor and the horizontal sensor group collect data and feed the data back to the control module, and the control module analyzes and processes the data and sends control instructions.

The output end of the control module is respectively connected with a supplementary driving device in the compensation adjusting device, a correction driving device in the deflection correcting device and a leveling driving device in the horizontal leveling device. The supplement driving device drives the discharging box 6 to perform linear supplement movement through the supplement transmission assembly. The correcting driving device drives the blanking box 6 to perform deflection correcting action through the deflection correcting device. The horizontal leveling device drives the blanking box 6 to perform horizontal leveling action through the horizontal leveling device.

Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.

Example 4:

in this embodiment, the material pushing mechanism arranged in the blanking box 6 is further optimized on the basis of any one of embodiments 1, 2 and 3, and the material pushing mechanism for pushing and pulling the material bags to the inner side wall of the blanking box 6 is arranged in the blanking box 6; the material pushing mechanism includes a material pushing driving device 642 fixed on the top of the blanking box 6, and a material pushing plate 641 installed at the output end of the material pushing driving device 642 and located in the inner cavity of the blanking box 6. A material pushing plate 641 is arranged to push the material bag entering the blanking box 6 to the left so that the material bag can be tightly attached to the inner wall of the left side plate 62 of the blanking box 6, and similarly, the material pushing plate 641 pushes the material bag entering the blanking box 6 to the right so that the material bag can be tightly attached to the inner wall of the right side plate 63 of the blanking box 6.

As shown in fig. 13, in order to further improve the working efficiency of the pushing plate, the pushing mechanism includes two sets of pushing driving devices 642 and pushing plates 641 corresponding to each other one by one, and the two sets of pushing driving devices 642 and pushing plates 641 corresponding to each other one by one are arranged in an opposite staggered manner.

Other parts of this embodiment are the same as any of embodiments 1 to 3, and thus are not described again.

Example 5:

in this embodiment, a further optimization is performed on the basis of any one of embodiments 1 to 4, as shown in fig. 14, a bottom plate of the blanking box 6 is provided with a door 61 which is opened downwards, mainly comprises two door leaves, and is opened in a half way, and a door opening and closing device for opening and closing the door 61 is respectively arranged in an interlayer of a left side plate 62 and a right side plate 63 of the blanking box 6; the door opening and closing device comprises an opening and closing driving device 651 and a door connecting rod device for connecting the opening and closing driving device 651 with the door 61; the door link device comprises a main push rod 652 and two auxiliary push rods 653, wherein the main push rod 652 is arranged at the output end of the opening and closing driving device 651, the two auxiliary push rods 653 are symmetrically arranged at two sides of the main push rod 652, and one auxiliary push rod 653 is correspondingly hinged with one door leaf; the middle part of the main push rod 652 is fixed with the output end of the opening and closing driving device 651, and the two ends of the main push rod 652 are in an eave shape, extend to the two sides and are respectively hinged with the auxiliary push rod 653.

The box door 61 is of a split structure, the opening and closing driving device 651 drives the two door leaves to be opened simultaneously through the door connecting rod device, the material bags in the discharging box 6 fall, the falling position is accurate, the falling height is small when the material bags fall, and the states of the material bags are stable.

Left side board 62, the right side board 63 of workbin 6 are hollow structure in this embodiment, and left side board 62, right side board 63 all have inner wall and outer wall, and door headstock gear installs in hollow structure.

In this embodiment, the opening and closing driving device 651 can be electric or pneumatic, the output end of the opening and closing driving device 651 drives the door leaf to move through the main push rod 652 and the two symmetrically arranged auxiliary push rods 653, which form a link mechanism, so that the door leaf can effectively bear the weight of the material bag when being closed; the door leaf is opened quickly and smoothly, and the structure is simple and efficient.

Other parts of this embodiment are the same as any of embodiments 1 to 4, and thus are not described again.

Example 6:

in this embodiment, a side-pull type box door 61 is disposed on the bottom plate of the blanking box 6, which is further optimized on the basis of any one of embodiments 1 to 4; the box door 61 is of a whole plate structure, and the box door 61 is opened and closed by a sliding door driving device 661 installed on the blanking box 6. The door frame of the bottom plate of the blanking box 6 is higher than the surface of the box door 61, and the material bag is blocked.

As shown in fig. 15, the door 61 has a side pull type structure, and the door 61 is a single plate. When the door 61 is opened, the sliding door driving device 661 directly draws the door 61 outward; when the door 61 is closed, the door opening driving device 661 drives the door 61 to be inserted back. Compared with a split structure, the structure can fully save the space in the height direction, and is more suitable for occasions with stricter limitation on the height during stacking.

Further, in order to make the structure of this loading robot more compact, the sliding door driving device 661 is disposed on the rear panel of the lower box 6, that is, the sliding door driving device 661 is disposed on the side of the lower box 6 close to the robot arm 4. With this structure, the door 61 is opened or closed from the side close to the robot arm 4.

Further, the output end of the sliding door driving device 661 is connected to a scissor link 662, and the sliding door driving device 661 drives the door 61 to open and close through the scissor link 662. The sliding door driving device 661 adopts an electric pushing cylinder, and one end of the scissor type connecting rod 662 is installed at an output shaft of the electric pushing cylinder.

Further, the box door 61 is installed in cooperation with a door slide rail provided at the bottom of the blanking box 6. The end of the door slide rail is also provided with an anti-drop block for preventing the door 61 from accidentally separating. The box door 61 slides stably through a door slide rail arranged at the bottom of the blanking box 6, and is limited by the anti-falling block and cannot fall off accidentally.

Example 7:

as shown in fig. 16 and 17, this embodiment is further optimized based on any one of embodiments 1 to 6, and the swiveling device 2 includes a lifting adjustment mechanism for driving the arm 4 to lift and a horizontal rotation adjustment mechanism for driving the arm 4 to horizontally adjust the rotation declination.

The horizontal rotation adjusting mechanism comprises a rotary frame 21 connected with the main conveyor frame 1 into a whole, a traveling frame 22 rotationally connected with the rotary frame 21 and a horizontal rotation driving device 25 driving the traveling frame 22 to rotate; the lifting adjusting mechanism comprises a lifting rotating shaft 23 fixedly arranged on the traveling frame 22 and hinged with the mechanical arm 4, and a lifting driving device 24 for supporting and driving the mechanical arm 4 to adjust the lifting angle.

Gyration frame 21 includes the gyration body frame 215 with capable frame 22 fixed connection and the gyration rim plate 210 of embedding in gyration body frame 215, surface mounting has on gyration body frame 215 horizontal rotation drive device 25, horizontal rotation drive device 25 pass through the speed reducer and set up the drive gear 211 drive connection at gyration rim plate 210 center, gyration rim plate 210 is close to drive gear 211 one side and is provided with the teeth of a cogwheel just the teeth of a cogwheel are through a plurality of planetary gear 212 and drive gear 211 meshing, planetary gear 212 is fixed through the pivot and is rotated with the relative gyration body frame 215 of drive gyration rim plate 210 between gyration body frame 215 and gyration rim plate 210.

In this embodiment, the material conveying process is: the material is got rid of from production facility, perhaps equipment for packing in, sends into main conveyer frame 1 through any transfer device of having now the material, through the transport and the adjustment of main conveyer frame 1, the material is deviate from and fall on the transport mechanism 3 of arm 4 from main conveyer frame 1 according to set direction, and through the transmission of transport mechanism 3, the material package moves along the length direction of arm 4 and arrives workbin 6 and finally unloads the sign indicating number and put in the railway carriage.

Secondly, the utility model discloses when carrying out the stack to the material, inevitable can adjust 4 its work ends of arm (install workbin department promptly) according to the position of actual material stack, including 4 altitude mixture control of arm and horizontal position's regulation. When the commodity circulation terminal vehicle to different splendid attire and transportation material, the packing box height of its vehicle is inconsistent, needs to carry out the regulation of adaptability to the height of 4 work ends of arm to satisfy required height, better carry out the stack assembly to the material.

The method and principle for adjusting the height of the working end of the mechanical arm 4 are as follows: because the one end of arm 4 is articulated with the crane 22 through lifting rotation axis 23, lift drive arrangement 24 both ends direct connection arm 4 and gyration frame 21, when lifting drive arrangement 24 when carrying out the extension or shorten the action, the arm 4 work end then corresponding realization rises/descends the action to realize the regulation of arm 4 height, satisfy the problem of different railway carriage heights.

It should be noted that the hydraulic source for driving the lift driving device 24, such as a hydraulic pump, a hydraulic oil pipe, a controller for controlling the operation of the hydraulic pump, etc., may be installed at any position that does not affect the operation of the mechanical arm 4.

Finally, when the number of vehicles needing to be stacked is large, for example, a plurality of trucks wait for loading side by side, the trucks usually stop in a fan shape by taking the mechanical arm base as the center of a circle. In this case, the robot arm 4 is constantly set into rotational motion during the stacking process to convey the material into the different wagon boxes. When the mechanical arm 4 rotates horizontally, the working principle is as follows: the horizontal rotation driving device 25 is energized to transmit power to the revolving frame 21 to rotate the revolving frame 21, thereby adjusting the rotation of the arm 4, and the forward and reverse rotation of the arm 4 is controlled by the forward and reverse rotation of the horizontal rotation driving device 25.

Other parts of this embodiment are the same as any of embodiments 1 to 6, and thus are not described again.

Example 8:

in this embodiment, a further optimization is performed on the basis of any one of embodiments 1 to 7, and as shown in fig. 18, the main conveyor frame 1 includes a bearing frame beam 11 provided with a pulley mechanism, and the bearing frame beam 11 is respectively installed on a secondary feeding box 13 and a primary feeding box 12 at the lower end of the bearing frame beam 11; the discharge port of the first-stage feeding box 12 is movably connected with the feed port of the second-stage feeding box 13, and a material guide mechanism is arranged between the first-stage feeding box 12 and the second-stage feeding box 13.

Other parts of this embodiment are the same as any of embodiments 1 to 7, and thus are not described again.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.

Claims

1. The utility model provides an automatic loading manipulator of rocking arm formula, with along supporting installation of guide rail (001) that railway carriage depth direction set up, including main conveyer frame (1) of slidable mounting on guide rail (001) and arm (4) that are located main conveyer frame (1) below, its characterized in that: the device also comprises a slewing device (2) which is connected with the main conveyor frame (1) and a mechanical arm (4) of a built-in transmission mechanism and enables the mechanical arm (4) to lift or horizontally rotate in the carriage; a small rack (51) with a rigid structure is fixedly arranged at the discharging end of the mechanical arm (4), and the small rack (51) is connected with a discharging box (6) through a universal adjusting device;

the universal adjusting device comprises a compensation adjusting device for driving the blanking box (6) to perform compensation movement in the extending direction of the small rack (51), an inclination correcting device for driving the blanking box (6) to perform transverse rotation correction, and a horizontal leveling device for driving the blanking box (6) to perform vertical rotation leveling; the deflection correcting device and the horizontal leveling device are respectively connected with the blanking box (6), the horizontal leveling device is arranged on the deflection correcting device, the deflection correcting device is arranged on the compensation adjusting device, and the compensation adjusting device is connected with a small rack (51) above the deflection correcting device;

the compensation adjusting device comprises a compensation power device (52) fixedly arranged on the small rack (51) and a compensation transmission assembly arranged at the output end of the compensation power device (52), wherein the lower end of the compensation transmission assembly is connected with the blanking box (6) and drives the blanking box (6), a deflection correcting device connected with the blanking box (6) and a horizontal leveling device connected with the blanking box (6) to move together; the compensation power device (52) drives the blanking box (6) to move in a compensation mode within the range of the small rack (51) through a compensation transmission assembly in the small rack (51); meanwhile, the small rack (51) bears the weight of the blanking box (6) and the material bags loaded in the blanking box (6).

2. The rocker arm type automatic loading manipulator of claim 1, wherein: the slewing device (2) comprises a lifting adjusting mechanism for driving the mechanical arm (4) to lift and a horizontal rotation adjusting mechanism for driving the mechanical arm (4) to horizontally adjust the rotation deflection angle.

3. The swing-arm type automatic loading manipulator of claim 2, which is characterized in that: the horizontal rotation adjusting mechanism comprises a rotary frame (21) connected with the main conveyor frame (1) into a whole, a traveling frame (22) rotationally connected with the rotary frame (21) and a horizontal rotation driving device (25) driving the traveling frame (22) to rotate; the lifting adjusting mechanism comprises a lifting rotating shaft (23) which is fixedly arranged on the walking frame (22) and is hinged with the mechanical arm (4), and a lifting driving device (24) which supports and drives the mechanical arm (4) to adjust the lifting angle.

4. The swing-arm type automatic loading manipulator of claim 3, which is characterized in that: gyration frame (21) include with bank (22) fixed connection's gyration body frame (215) and embedding gyration rim plate (210) in gyration body frame (215), surface mounting has on gyration body frame (215) horizontal rotation drive device (25), horizontal rotation drive device (25) pass through the speed reducer and are connected with drive gear (211) drive that sets up at gyration rim plate (210) center, gyration rim plate (210) are close to drive gear (211) one side and are provided with the teeth of a cogwheel just the teeth of a cogwheel are through a plurality of planetary gear (212) and drive gear (211) meshing, planetary gear (212) are fixed through the pivot and are rotated with drive gyration rim plate (210) relative gyration body frame (215) between gyration body frame (215) and gyration rim plate (210).

5. The swing arm type automatic loading manipulator of any one of claims 1 to 4, wherein: the bottom plate of the blanking box (6) is provided with a split type box door or a pull type box door; the split type box door comprises a box door (61) which is opened downwards, mainly comprises two door leaves and is split, a left side plate (62) and a right side plate (63) of the blanking box (6) are both of a hollow structure, and door opening and closing devices for driving the box door (61) to open and close are respectively arranged in interlayers of the left side plate (62) and the right side plate (63) of the blanking box (6); the door opening and closing device comprises an opening and closing driving device (651) and a door connecting rod device which is connected with the opening and closing driving device (651) and the door (61); the door connecting rod device comprises a main push rod (652) arranged at the output end of the opening and closing driving device (651) and two auxiliary push rods (653) symmetrically arranged at two sides of the main push rod (652), and one auxiliary push rod (653) is correspondingly hinged with one door leaf; the middle part of the main push rod (652) is fixed with the output end of the opening and closing driving device (651), and two ends of the main push rod (652) extend to two sides in a cornice shape and are respectively hinged with the auxiliary push rod (653); the pulling type box door comprises a box door (61) which is arranged on the bottom plate of the blanking box (6) and pulled from the side surface; the box door (61) is of a whole-plate structure, and the box door (61) is opened and closed through a sliding door driving device (661) arranged on the blanking box (6).

6. The swing arm type automatic loading manipulator of any one of claims 1 to 4, wherein: the device also comprises a control system for detecting the position state of the blanking box (6) and driving the blanking box (6) to adjust the position state; the control system comprises a sensor assembly arranged on the blanking box (6) and a control module connected with the sensor assembly; and the signal output end of the control module is connected with the universal adjusting device and used for executing the adjusting action of the position state of the blanking box (6).

7. The rocker arm type automatic loading manipulator of claim 6, wherein: the sensor assembly comprises a front-end distance sensor, a height distance sensor, a left-side distance sensor, a right-side distance sensor and a horizontal sensor group;

the front end distance sensor is embedded in the front plate at the foremost end of the blanking box (6) and is used for detecting the distance between the front plate of the blanking box (6) and the inner wall of the carriage;

the height distance sensor is arranged on a rear plate at the rearmost end of the blanking box (6) and used for detecting the distance between the bottom plate of the blanking box (6) and the floor of the carriage;

the left distance sensor is arranged on a rear plate at the rearmost end of the blanking box (6) and used for detecting the distance between a left side plate (62) of the blanking box (6) and the inner wall of the compartment;

the right distance sensor is arranged on a rear plate at the rearmost end of the blanking box (6) and used for detecting the distance between a right side plate (63) of the blanking box (6) and the inner wall of the compartment;

the horizontal sensor group is embedded on the bottom plate at the lowest end of the blanking box (6) and used for feeding back the parallelism between the bottom plate of the blanking box (6) and the floor of the carriage.

8. The swing arm type automatic loading manipulator of any one of claims 1 to 4, wherein: a material pushing mechanism for pushing and pulling the material bags to the inner side wall of the blanking box (6) is arranged in the blanking box (6); the material pushing mechanism comprises a material pushing driving device (642) fixed at the top of the blanking box (6) and a material pushing plate (641) arranged at the output end of the material pushing driving device (642) and positioned in the inner cavity of the blanking box (6).

9. The swing arm type automatic loading manipulator of any one of claims 1 to 4, wherein: the main conveyor frame (1) comprises a bearing frame beam (11) provided with a pulley mechanism, and a secondary feeding box (13) and a primary feeding box (12) which are respectively arranged at the lower end of the bearing frame beam (11); the discharge port of the first-stage feeding box (12) is movably connected with the feed port of the second-stage feeding box (13), and a material guide mechanism is arranged between the first-stage feeding box (12) and the second-stage feeding box (13).