CN108840122A - A kind of automatic loading machine - Google Patents
A kind of automatic loading machine Download PDFInfo
- Publication number
- CN108840122A CN108840122A CN201810679048.8A CN201810679048A CN108840122A CN 108840122 A CN108840122 A CN 108840122A CN 201810679048 A CN201810679048 A CN 201810679048A CN 108840122 A CN108840122 A CN 108840122A
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- China
- Prior art keywords
- guide rail
- rack
- conveyer
- mechanical gripper
- automatic loading
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000011068 load Methods 0.000 title claims abstract description 50
- 239000000463 material Substances 0.000 claims abstract description 60
- 238000006073 displacement reaction Methods 0.000 claims abstract description 20
- 230000000694 effects Effects 0.000 claims description 6
- 206010064684 Device dislocation Diseases 0.000 claims description 3
- 238000004904 shortening Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 6
- 238000002360 preparation method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 210000003491 Skin Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000005039 chemical industry Methods 0.000 description 1
- 230000000875 corresponding Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 239000003638 reducing agent Substances 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- 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
Abstract
The invention discloses a kind of automatic loading machines comprising delivery platform device and mechanical gripper device, delivery platform device include conveyer, and mechanical gripper device includes mechanical gripper and displacement drive；Further include the double-deck rack for being set to aerial first level guide rail and sliding connection below first level guide rail, is provided with the first running gear in the double-deck rack；The upper layer of the double-deck rack is equipped with displacement drive, the movable end of displacement drive is connected with mechanical gripper, the lower layer of the double-deck rack is equipped with conveyer and the second horizontal guide rail, conveyer and first level guide rail are arranged in parallel, second horizontal guide rail is arranged vertically with first level guide rail, conveyer and the second horizontal guide rail are slidably connected, and the lower layer of the double-deck rack is provided with the second running gear for driving it to move along the second horizontal guide rail.The configuration of the present invention is simple, easy to use, the efficiency for shortening the stroke of mechanical gripper, improving material bag handling.
Description
Technical field
The present invention relates to a kind of carloaders, and handgrip can be shortened by belonging to article carrying apparatus technical field more particularly to one kind
The automatic loading machine of loading and unloading stroke.
Background technique
As economy and people live increasingly developed, logistics also grows stronger day by day, and substance circulating speed is obviously accelerated, raw
The fields such as the transport of various materials and factory's delivery workshop are directed to car loading operation in work.Currently, in bagged material to train
When skin, box truck, general-utility car, tractor etc. carry out car loading operation, still by the way of stevedore's entrucking, there is works
People's large labor intensity, the drawbacks such as entrucking low efficiency, and artificial entrucking are also far from satisfying substance circulating speed at this stage
It needs.In order to solve the above-mentioned technical problem, a kind of full-automatic handling are disclosed in Chinese utility model patent CN206068873U
Device comprising device for transporting objects, positioning device, alignment sensor, material grasping manipulator, control system, material grasping manipulator with
Positioning device is connected, and positioning device includes the first guide rail, the first movement mechanism, the second movement mechanism.Although the invention provides
A kind of automatic loading system, and efficiently solve existing automatic loading, but that there are system suitabilities is poor, and production efficiency is low to ask
Topic；By specification and the Figure of description of the invention it is found that the full-automatic handler of this kind of structure must by vehicle parking in
The two sides of device for transporting objects, and be mounted in by the material on the mechanical gripper crawl device for transporting objects in positioning device into vehicle,
It follows that from crawl article, until discharging enters, this section of stroke of vehicle is longer to imitate the mechanical gripper in positioning device to cause to load and unload
Rate is low, at the same material in longer handling process its gravity and inertia force can the service life to mechanical gripper have it is larger
Influence；In addition the loading system does not carry out Shape correction to being grabbed article before handgrip crawl, cannot so that Loading precision is poor
It is effectively paved with the entrucking space of entire vehicle, therefore movement when mechanical gripper loads and unloads material can effectively be shortened by urgently developing one kind
Stroke, the automatic loading machine for improving the efficiency of loading and unloading and Loading precision.
Summary of the invention
In view of the above-mentioned drawbacks of the prior art, the technical problem to be solved in the present invention is to provide a kind of automatic loadings
Machine is not only simple in structure, versatility height, and can effectively be shortened the stroke of mechanical gripper handling material, be improved machinery
The efficiency and Loading precision of handgrip handling material.
In order to solve the above technical problems, present invention employs such a automatic loading machines comprising conveyed for material
Delivery platform device and for grabbing material and being loaded into the mechanical gripper device of vehicle, the delivery platform device includes
Conveyer, the mechanical gripper device include mechanical gripper for grabbing material and for drive mechanical gripper in space from
By mobile displacement drive；It further include first level guide rail and the sliding connection for being set to aerial (fixing in the sky)
The double-deck rack below first level guide rail, it is described bilayer rack on be provided with for driving it to move along first level guide rail
The first running gear；The upper layer of the bilayer rack is equipped with the displacement drive of mechanical gripper, the displacement drive dress
The movable end set is connected with the mechanical gripper, and the lower layer of the bilayer rack is equipped with conveyer and the second horizontal guide rail, institute
The conveying direction and the first level guide rail for stating conveyer are arranged in parallel, and second horizontal guide rail is led with the first level
Rail is arranged vertically, and the conveyer and second horizontal guide rail are slidably connected, and is arranged in the lower layer of the bilayer rack
There is the second running gear for driving it to move along the second horizontal guide rail.
In a kind of preferred embodiment of the invention, the bilayer rack includes upper layer rack and lower rack, described
The upright guide rail and lifting device being arranged in a vertical direction, the lower rack and the upright guide rail are provided in the rack of upper layer
Sliding connection, the fixing end of the lifting device and the upper layer rack are affixed, the movable end of the lifting device and institute
It is affixed to state lower rack.
In a kind of preferred embodiment of the invention, first running gear is vertical by being arranged in a vertical direction
Guide rail and lifting device are connect with the double-deck rack, and the bilayer rack and the upright guide rail are slidably connected, described
The fixing end of lifting device and first running gear are affixed, and the movable end of the lifting device and the double-deck rack are solid
It connects.
In a kind of preferred embodiment of the invention, the mechanical gripper passes through rotation drive device and the mechanical gripping
The movable end of the displacement drive of hand connects, and the mechanical gripper can be around own axes under rotation drive device effect
Rotation.
The displacement drive of the mechanical gripper described in a kind of preferred embodiment of the invention include it is horizontally disposed and
The X of first level guide rail is parallel to straight line slide unit, horizontally disposed and Y-direction straight line slide unit perpendicular to first level guide rail and is erected
The Z-direction straight line slide unit of straight arrangement and vertical first level guide rail；The X is fixed in the double-deck machine to the fixing end of straight line slide unit
The upper layer of frame, the X are connect to the movable end of straight line slide unit with the fixing end of the Y-direction straight line slide unit, the Y-direction straight line slide unit
Movable end and the Z-direction straight line slide unit fixing end it is affixed, the movable end of the Z-direction straight line slide unit and the mechanical gripper connect
It connects.
In a kind of preferred embodiment of the invention, the upper layer of the bilayer rack is equipped with multiple mechanical gripper devices
With corresponding displacement drive.
In a kind of preferred embodiment of the invention, the mechanical gripper device；The of the lower layer of the bilayer rack
Multiple conveyers are slidably connected on two horizontal guide rails.
In a kind of preferred embodiment of the invention, the mechanical gripper device；Lower layer's installation of the bilayer rack
There is front conveyer.
In a kind of preferred embodiment of the invention, the two sides of the conveyer are provided with the side for support article
Plate, the lifting device moved up and down for realizing the side plate relative to the conveyer and for be oriented to the side plate relative to
The guiding device that the conveyer moves up and down, the top of the side plate are provided with multiple along the spaced apart boss of its long side.
The usefulness of lifting side plate can change the shape for being grabbed article, realizes accurate entrucking convenient for handgrip and is paved in car wall panel
Portion space.
In a kind of preferred embodiment of the invention, the lifting device is arranged in a vertical direction, the lifting device
Including fixing end and movable end；The movable end moves up and down along the vertical direction.
The beneficial effects of the invention are as follows：It is the configuration of the present invention is simple, easy to use, by by mechanical gripping in the prior art
Arm device and conveyer are integrated in the double-deck rack, and by the way that rack is connected and conveyer sliding connection with guide rail
In so that carloader can move freely in space, enabling rack located immediately at material unloading station in rack
Surface, therefore the stroke of mechanical gripper is shortened, improve the efficiency of material bag handling；Further, the present invention is by will be double-deck
Rack or/and lower rack are designed as the form that can be gone up and down along the vertical direction, allow automatic loading machine according to the height of vehicle
The height and position of degree adjustment rack, shortens the stroke of handgrip handling material, improves security and stability and entrucking effect of the invention
Rate；Further, the present invention is by being designed as rotatable structure type for mechanical gripper, root when ensure that mechanical gripper discharging
According to vehicle storage space Rational Arrangement；Further, the present invention by be arranged on the rack it is multiple can be with the defeated of synchronized cooperative work
Machine and mechanical gripper device are sent, to effectively improve the efficiency of loading and unloading of the invention；The present invention is set by the lower layer in rack
Front conveyer is set, the transmission of cargo is facilitated and is docked with existing production line；Further, the present invention passes through in conveyer
Two sides are provided with side plate, and after conveyed article conveying in place, side plate rises or conveyer decline, and conveyed article is by side plate support
Firmly, side plate top has the structure of convex-concave in short transverse, facilitates mechanical gripper crawl；Again due to the size of two side sheet rooms
Less than conveyed article the direction size, if conveyed article is soft goods, after which is held up by side plate
Sagging shape will be presented, be conducive to article in reduction figure and carry out small size crawl behaviour in the size of the direction convenient for mechanical gripper
Make.
Detailed description of the invention
Fig. 1 is the main view of embodiment 1 in a kind of automatic loading machine of the embodiment of the present invention；
Fig. 2 is the left view of embodiment 1 in a kind of automatic loading machine of the embodiment of the present invention；
Fig. 3 is the upper layer top view of embodiment 1 in a kind of automatic loading machine of the embodiment of the present invention；
Fig. 4 is lower layer's top view of embodiment 1 in a kind of automatic loading machine of the embodiment of the present invention；
Fig. 5 is the rearview of embodiment 1 in a kind of automatic loading machine of the embodiment of the present invention；
Fig. 6 is the main view of embodiment 2 in a kind of automatic loading machine of the embodiment of the present invention；
Fig. 7 is the left view of embodiment 2 in a kind of automatic loading machine of the embodiment of the present invention；
Fig. 8 is the rearview of embodiment 2 in a kind of automatic loading machine of the embodiment of the present invention；
Fig. 9 is the main view of embodiment 3 in a kind of automatic loading machine of the embodiment of the present invention；
Figure 10 is the rearview of embodiment 3 in a kind of automatic loading machine of the embodiment of the present invention；
Figure 11 is the conveyer main view with side plate in a kind of automatic loading machine of the embodiment of the present invention；(side plate does not rise)
Figure 12 is the conveying side view with side plate in a kind of automatic loading machine of the embodiment of the present invention；(side plate does not rise)
Figure 13 is the conveyer main view with side plate in a kind of automatic loading machine of the embodiment of the present invention；(side plate rise)
Figure 14 is the conveying side view with side plate in a kind of automatic loading machine of the embodiment of the present invention.(side plate rise)
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
A kind of automatic loading machine as shown in Figure of description, the vehicle for bagged product load automatically, and substitution is artificial
Entrucking has widely purposes in industries such as chemical industry, cement, grains, and high degree of automation is high-efficient, and may be implemented few dirt or
Dustless loading.The present invention includes for the delivery platform device of material conveying and for grabbing material and being loaded into the machine of vehicle
Tool gripper equipment, delivery platform device include conveyer, and mechanical gripper device includes the mechanical gripper and use for grabbing material
In driving mechanical gripper free-moving displacement drive in space, it should be pointed out that, conveyer and mechanical gripper device are equal
Belong to the prior art, as long as can be realized any conveyer in the prior art and the mechanical gripper dress of conveying and the crawl of material bag
It sets and all belongs to the scope of protection of the present invention；The present invention is based on the technology of above-mentioned maturation, and two sets of independent structures are integrated in
It is suspended in the first level guide rail on ground and the double-deck rack being slidably connected below first level guide rail, it is double-deck
The first running gear for driving it to move along first level guide rail is provided in rack；The upper layer of the double-deck rack is equipped with position
Driving device is moved, the movable end of displacement drive is connected with mechanical gripper, and the lower layer of the double-deck rack is equipped with conveyer and the
Two horizontal guide rails, conveyer conveying direction and first level guide rail are arranged in parallel, and the second horizontal guide rail and first level guide rail hang down
Straight arrangement, conveyer and the second horizontal guide rail are slidably connected, and the lower layer of the double-deck rack is provided with for driving it along second
The second mobile running gear of horizontal guide rail.
Further, when a conveyer is only installed by the lower layer for being mounted on the double-deck rack, it is convenient to omit second is horizontal
Guide rail, the relatively double-deck shelf position of conveyer is fixed at this time, and material can be realized by displacement drive cooperative mechanical handgrip
Clamping.
The double-deck rack of the invention can be designed as split type structure, may be designed in monolithic construction；
When the double-deck rack is split type structure, lower rack can be moved up and down with respect to upper layer rack, and the double-deck rack includes
Upper layer rack and lower rack are provided with the upright guide rail and lifting device being arranged in a vertical direction, lower layer's machine in the rack of upper layer
Frame and upright guide rail are slidably connected, and the fixing end and upper layer rack of lifting device are affixed, and the movable end of lifting device is under
Layer rack is affixed.
When the double-deck rack is monolithic construction, lower rack can be fixed with respect to upper layer shelf position, and the double-deck rack can phase
First level guide rail is moved up and down；First running gear passes through the upright guide rail that is arranged in a vertical direction and lifting device and double
Layer rack connection, the double-deck rack and upright guide rail are slidably connected, and the fixing end of lifting device and the first running gear are affixed,
The movable end of lifting device and the double-deck rack are affixed.
Mechanical gripper of the invention have under the action of displacement drive there are three spatial degrees of freedom (X to, Y-direction, Z
To), while mechanical gripper can be connected by the movable end of rotation drive device and displacement drive, to add additional
One degree of freedom, mechanical gripper can rotate under rotation drive device effect around own axes.Displacement drive of the invention
Including horizontally disposed and be parallel to the X of first level guide rail to straight line slide unit, horizontally disposed and perpendicular to first level guide rail Y
To the Z-direction straight line slide unit of straight line slide unit and vertical arrangement and vertical first level guide rail；X is fixed in the fixing end of straight line slide unit
The upper layer of the double-deck rack, X are connect to the movable end of straight line slide unit with the fixing end of Y-direction straight line slide unit, the activity of Y-direction straight line slide unit
End is affixed with the fixing end of Z-direction straight line slide unit, and the movable end of Z-direction straight line slide unit is connect with mechanical gripper.
In order to improve the efficiency of loading and unloading of the invention, the upper layer of the double-deck rack of the invention is equipped with multiple mechanical gripper dresses
It sets, multiple conveyers, lower layer's installation of the double-deck rack is slidably connected on the second horizontal guide rail of the lower layer of the double-deck rack
There is front conveyer.
In order to avoid the material and mechanical gripper that are located on conveyer generate interference, the present invention further makees conveyer
It improves.The two sides of conveyer of the invention are provided with the side plate for support article, for realizing side plate relative to conveyer
The side plate lifting device of lower movement and the guiding device moved up and down for being oriented to side plate relative to conveyer, the top of side plate are set
It is equipped with multiple along the spaced apart boss of its long side.Side plate lifting device is arranged in a vertical direction, and side plate lifting device includes solid
Fixed end and movable end；Fixing end is affixed with conveyer, and movable end is affixed with side plate.
Mechanical gripper device of the invention is explained further now in conjunction with Figure of description, the present invention include handgrip 1, X to
Mobile Slide 2 and X are to driving device 3, Z-direction Mobile Slide 4 and Z-direction driving device 5, Y-direction Mobile Slide 6 and Y-direction driving device
7, rack 12.Handgrip 1 and Z-direction Mobile Slide 4 are slidably connected, and are moved under the driving of Z-direction driving device 5 along Z-direction；Z-direction
Driving device 5 is slidably connected by machine components and X to Mobile Slide 2, and can be in X direction in the case where X drives to driving device 3
Sliding；X is slidably connected by machine components with Y-direction Mobile Slide 6 to Mobile Slide 2, and can under the driving of Y-direction driving device 7
To slide along Y-direction, Y-direction Mobile Slide 6 is connect with rack 12.Its connection type is not limited to the description of front, can allow 1 edge of handgrip
X, the mobile connection type of Y, Z-direction is in the column of the present invention.Delivery platform device of the invention include conveyer 8, guide rail 9,
Driving device 10, rack 12.Conveyer 8 can be moved along Y-direction on the rail 9 under the driving of driving device 10, and guide rail 9 is along Y-direction
It is connected in rack 12.It is provided with traveling wheel 13 in rack 12, under the driving of driving device 14, drives upper layer mechanical gripper dress
It sets and is moved in X direction on guide rail 15 with lower layer delivery platform device.Liter also can be set in rack 12 between traveling wheel 13
Guide rail 18, driving device 19, walked frame 20 drop, and driving device 19 is mounted on walked frame 20,19 driving machine of driving device
Frame 12 together, is led with lower layer's delivery platform device or lower layer's delivery platform device and upper layer mechanical gripper device in lifting
Rail 18 is gone up and down along Z-direction.Rotary part 16 and its driving device can also be arranged in upper layer mechanical gripper device on handgrip 1
17, rotary motion may be implemented in handgrip 1.Lower layer's delivery platform device, which includes that two sides of conveyer 8 are settable, to be risen up and down
Side plate 21, lifting drive 22 and the riser guide 23 of drop, lifting drive 22 can drive side plate to realize Z on guide rail 23
The lifting in direction；The settable front conveyer 11 of lower layer's delivery platform device, front conveyer 11 are connected in rack 12, are responsible for
Previous process material is transported on conveyer 8.Aforementioned driving device 3, driving device 7, driving device 10, is driven at driving device 5
Dynamic device 14, driving device 19, driving device 22 can be motor (or with speed reducer) driving rack-and-pinion, sprocket wheel chain, band
Take turns the linear drive apparatus of belt, wirerope and cylinder or other similar functions.Driving device 17 can be motor (or with deceleration
Machine), cylinder add the rotation drive device of turntable or other similar functions.
Further, the invention also discloses three kinds of specific embodiments：
Embodiment 1：
A kind of automatic loading machine includes upper layer mechanical gripper device and lower layer's delivery platform device.Upper layer mechanical gripper device
Including 2 handgrips 1, handgrips in X direction Mobile Slide 2 and driving device 3, handgrip along Z-direction Mobile Slide 4 and driving device 5,
Handgrip is formed along Y-direction Mobile Slide 6 and driving device 7, rack 12.Handgrip 1 and Mobile Slide 4 are connected, and drive in driving device 5
It is moved under dynamic along Z-direction；Driving device 5 is slidably connected by machine components with Mobile Slide 2, and under the driving of driving device 3
It can slide in X direction；Mobile Slide 2 is slidably connected by machine components with Mobile Slide 6, and under the driving of driving device 7
It can be slided along Y-direction, Mobile Slide 6 is connect with rack 12.
Lower layer's delivery platform device includes conveyer 8, guide rail 9, driving device 10, the composition of rack 12.Conveyer 8 is connected,
It can be moved on the rail 9 along Y-direction under the driving of driving device 10, guide rail 9 is connected in rack 12.Two sides of conveyer 8
Side plate 21, lifting drive 22, the riser guide 23 of the settable energy oscilaltion in face, lifting drive 22 can drive side plate
The lifting of Z-direction is realized on guide rail 23；Lower layer's delivery platform device is provided with front conveyer 11, and front conveyer 11 is connected
In rack 12, it is responsible for for previous process material being transported on conveyer 8.
It is provided with traveling wheel in rack 12, under the driving of driving device 14, drives upper layer mechanical gripper device and lower layer
Delivery platform device moves in X direction on guide rail 15.
Embodiment usefulness is above：Receive when lower layer's delivery platform device is provided with front conveyer 11 from outer
After the material in portion, material is given to conveyer 8, conveyer 8 is moved along Y-direction later, comes position to be grabbed, at this time conveyer 8
Continue to receive the material on front conveyer 11, and the material on conveyer 8 is jacked up by side plate 21 thereon, handgrip 1 picks up object
Material, handgrip 1 is moved along X, Y, Z-direction as needed later, and material is placed suitable position on vehicle to be installed；Object on conveyer 8
It is dynamic along Y-direction backward shift after material is caught away, prepare to receive the material on front conveyer 11, conveyer 8 reaches position to be grabbed, by
The material of the crawl of handgrip 1 thereon, handgrip 1 is moved along X, Y, Z-direction as needed later, and it is suitable on vehicle to be installed that material is placed
Position, a circulation terminate.A line or a few rows are often filled, under the driving of driving device 14, rack 12 drives upper layer mechanical gripping
Arm device and lower layer's delivery platform device move in X direction on guide rail 15, and preparation fills new a line or a few rows.
Embodiment 2：
A kind of automatic loading machine includes upper layer mechanical gripper device and lower layer's delivery platform device.It is different from embodiment 1
, upper layer mechanical gripper device is in addition to Mobile Slide 2 and driving device 3, handgrip are moved along Z-direction in X direction for handgrip 1, handgrip
Dynamic slide unit 4 and driving device 5, handgrip further include rotary part 16 outside Y-direction Mobile Slide 6 and driving device 7, rack 12
And its driving device 17.Handgrip 1 be connected, driving device 17 driving rotary motion may be implemented；Rotary part 16 and movement
Slide unit 4 connects, and moves under the driving of driving device 5 along Z-direction；Driving device 5 is connected by machine components and the sliding of Mobile Slide 2
It connects, and can be slided in X direction under the driving of driving device 3；Mobile Slide 2 is connected by machine components and the sliding of Mobile Slide 6
It connects, and can be slided along Y-direction under the driving of driving device 7, Mobile Slide 6 is connect with rack 12.To improve entrucking efficiency, on
A pair of similar gripper equipment is arranged in layer mechanical gripper device in the Y direction, another gripper equipment includes handgrip 1, handgrip along the side X
To Mobile Slide 2 and driving device 3, handgrip along Z-direction Mobile Slide 4 and driving device 5, handgrip along 6 and of Y-direction Mobile Slide
Driving device 7, rotary part 16 and its driving device 17.Connection type is same as above handgrip 1.
Lower layer's delivery platform device includes conveyer 8, guide rail 9, driving device 10, the composition of rack 12.Conveyer 8 is connected,
It can be moved on the rail 9 along Y-direction under the driving of driving device 10, guide rail 9 is connected in rack 12.Two sides of conveyer 8
Side plate 21, lifting drive 22, the riser guide 23 of the settable energy oscilaltion in face, lifting drive 22 can drive side plate
The lifting of Z-direction is realized on guide rail 23；Lower layer's delivery platform device is provided with front conveyer 11, and front conveyer 11 is connected
In rack 12, it is responsible for for previous process material being transported on conveyer 8.
It is provided with traveling wheel in rack 12, under the driving of driving device 14, drives upper layer mechanical gripper device and lower layer
Delivery platform device moves in X direction on guide rail 15.
Embodiment usefulness is above：Receive when lower layer's delivery platform device is provided with front conveyer 11 from outer
After the material in portion, material is given to conveyer 8, conveyer 8 is moved along Y-direction later, comes position to be grabbed, at this time conveyer 8
Continue to receive the material on front conveyer 11, and the material on conveyer 8 is jacked up by side plate 21 thereon, handgrip 1 picks up object
Material, handgrip 1 moves along X, Y, Z-direction rotate with Z axis as needed later, and material is placed suitable position on vehicle to be installed；It is defeated
Send after material is caught away on machine 8, it is dynamic along Y-direction backward shift, prepare to receive the material on front conveyer 11, conveyer 8 reach to
Position is grabbed, the material on conveyer 8 is jacked up the material by the crawl of handgrip 1 thereon by side plate 21 thereon, and handgrip 1 is according to need later
It to move along X, Y, Z-direction and be rotated with Z axis, material be placed into suitable position on vehicle to be installed, a circulation terminates.Often fill one
Capable or several rows, under the driving of driving device 14, rack 12 drives upper layer mechanical gripper device and lower layer's delivery platform device to exist
It is moved in X direction on guide rail 15, preparation fills new a line or a few rows.
Embodiment 3：
A kind of automatic loading machine includes upper layer mechanical gripper device and lower layer's delivery platform device.It is different from embodiment 1
, upper layer mechanical gripper device is in addition to Mobile Slide 2 and driving device 3, handgrip are moved along Z-direction in X direction for handgrip 1, handgrip
Dynamic slide unit 4 and driving device 5, handgrip further include rotary part 16 outside Y-direction Mobile Slide 6 and driving device 7, rack 12
And its driving device 17.Handgrip 1 be connected, driving device 17 driving rotary motion may be implemented；Rotary part 16 and movement
Slide unit 4 connects, and moves under the driving of driving device 5 along Z-direction；Driving device 5 is connected by machine components and the sliding of Mobile Slide 2
It connects, and can be slided in X direction under the driving of driving device 3；Mobile Slide 2 is connected by machine components and the sliding of Mobile Slide 6
It connects, and can be slided along Y-direction under the driving of driving device 7, Mobile Slide 6 is connect with rack 12.To improve entrucking efficiency, on
A pair of similar gripper equipment is arranged in layer mechanical gripper device in the Y direction, another gripper equipment includes handgrip 1, handgrip along the side X
To Mobile Slide 2 and driving device 3, handgrip along Z-direction Mobile Slide 4 and driving device 5, handgrip along 6 and of Y-direction Mobile Slide
Driving device 7, rotary part 16 and its driving device 17.Connection type is same as above handgrip 1.
Lower layer's delivery platform device includes conveyer 8, guide rail 9, driving device 10, the composition of rack 12.Conveyer 8 is connected,
It can be moved on the rail 9 along Y-direction under the driving of driving device 10, guide rail 9 is connected in rack 12.Lower layer's delivery platform device
It is provided with front conveyer 11, front conveyer 11 is connected in rack 12, is responsible for previous process material being transported to conveyer 8
On.
Riser guide 18, driving device 19, walked frame 20, driving also can be set in rack 12 between traveling wheel 13
Device 19 is mounted on walked frame 20, and driving device 19 drives rack 12 defeated with lower layer's delivery platform device or lower layer
It send stage apparatus and upper layer mechanical gripper device together, is gone up and down in riser guide 18 along Z-direction.
It is provided with traveling wheel 13 in rack 20, under the driving of driving device 14, drives mechanical gripper device in upper layer under
Layer delivery platform device moves in X direction on guide rail 15.
Embodiment usefulness is above：It, can be according to height of car, driving device 19 when vehicle enters entrucking station
Drive rack 12 with upper layer mechanical gripper device and lower layer's delivery platform device, riser guide 18 along Z-direction go up and down to from
Vehicle is nearest in Z-direction；
Receive to give material defeated after external material 1. lower layer's delivery platform device is provided with front conveyer 11
Machine 8 is sent, conveyer 8 is moved along Y-direction later, comes position to be grabbed, and conveyer 8 continues to receive on front conveyer 11 at this time
Material, and the material on conveyer 8 picks up material by handgrip 1, handgrip 1 moves along X, Y, Z-direction revolve with Z axis as needed later
Turn, material is placed into suitable position on vehicle to be installed；It is dynamic along Y-direction backward shift after material is caught away on conveyer 8, prepare to receive
Material on front conveyer 11, conveyer 8 reach position to be grabbed, and grab material thereon by handgrip 1, later 1 basis of handgrip
It needs to move along X, Y, Z-direction and be rotated with Z axis, material is placed into suitable position on vehicle to be installed, a circulation terminates.Often fill
A line or a few rows, under the driving of driving device 14, rack 12 drives upper layer mechanical gripper device and lower layer's delivery platform device
It is moved in X direction on guide rail 15, preparation fills new a line or a few rows.
2. can also increase the lifting side plate 21 of conveyer 8, side plate lifting drive 22, guide rail 23, movement is same at this time
Embodiment.
It should be understood that the above is only a specific embodiment of the invention, but protection scope of the present invention is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the invention, the variation that can readily occur in or is replaced
It changes, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of automatic loading machine, including the delivery platform device conveyed for material and for grabbing material and being loaded into
The mechanical gripper device of vehicle, the delivery platform device includes conveyer, and the mechanical gripper device includes for grabbing material
Mechanical gripper and for driving mechanical gripper free-moving displacement drive in space；It is characterized in that：Further include
It is set to the double-deck rack of aerial first level guide rail and sliding connection below first level guide rail, the bilayer machine
The first running gear for driving the double-deck rack to move along first level guide rail is provided on frame；The upper layer of the bilayer rack
The displacement drive of mechanical gripper is installed, the movable end of the displacement drive of the mechanical gripper is connected with the machinery
The lower layer of handgrip, the bilayer rack is equipped with conveyer and the second horizontal guide rail, the conveyer conveying direction and described the
One horizontal guide rail parallel arrangement, second horizontal guide rail are arranged vertically with the first level guide rail, the conveyer and institute
The sliding connection of the second horizontal guide rail is stated, the lower layer of the bilayer rack is provided with for driving conveyer to lead along the second level
The second mobile running gear of rail.
2. a kind of automatic loading machine according to claim 1, it is characterised in that：The bilayer rack includes upper layer rack under
Layer rack, is provided with the upright guide rail and lifting device being arranged in a vertical direction in the upper layer rack, the lower rack with
The upright guide rail sliding connection, the fixing end of the lifting device and the upper layer rack are affixed, the lifting device
Movable end and the lower rack it is affixed.
3. a kind of automatic loading machine according to claim 1, it is characterised in that：First running gear passes through along vertical side
It is connect to the upright guide rail and lifting device of arrangement with the double-deck rack, the bilayer rack is matched with upright guide rail sliding
Close connection, the fixing end of the lifting device and first running gear are affixed, the movable end of the lifting device with it is described
The double-deck rack is affixed.
4. a kind of automatic loading machine according to claim 1, it is characterised in that：The mechanical gripper passes through rotation drive device
It is connect with the movable end of the displacement drive of the mechanical gripper, the mechanical gripper is under rotation drive device effect
It can be rotated around own axes.
5. a kind of automatic loading machine according to claim 1, it is characterised in that：The displacement drive packet of the mechanical gripper
X that is horizontally disposed and being parallel to first level guide rail is included to straight line slide unit, horizontally disposed and perpendicular to first level guide rail Y-direction
The Z-direction straight line slide unit of straight line slide unit and vertical arrangement and vertical first level guide rail；The fixing end of the X to straight line slide unit is affixed
In the upper layer of the double-deck rack, the X is connect to the movable end of straight line slide unit with the fixing end of the Y-direction straight line slide unit, institute
The fixing end for stating the movable end and the Z-direction straight line slide unit of Y-direction straight line slide unit is affixed, the movable end of the Z-direction straight line slide unit with
The mechanical gripper connection.
6. a kind of automatic loading machine according to claim 1, it is characterised in that：The upper layer of the bilayer rack is equipped with multiple
Mechanical gripper device.
7. a kind of automatic loading machine according to claim 1, it is characterised in that：The mechanical gripper device；The bilayer machine
Multiple conveyers are slidably connected on second horizontal guide rail of the lower layer of frame.
8. a kind of automatic loading machine according to claim 1, it is characterised in that：The mechanical gripper device；The bilayer machine
The lower layer of frame is equipped with front conveyer.
9. a kind of automatic loading machine according to claim 1, it is characterised in that：The two sides of the conveyer are provided with for holding
The side plate for holding in the palm article, the side plate lifting device moved up and down for realizing the side plate relative to the conveyer and for being oriented to
The guiding device that the side plate is moved up and down relative to the conveyer, the top of the side plate are provided with multiple between its long side
Every the boss of arrangement.
10. a kind of automatic loading machine according to claim 9, it is characterised in that：The side plate lifting device is along the vertical direction
Arrangement, the side plate lifting device includes fixing end and movable end；The fixing end and conveyer are affixed, the movable end and institute
It is affixed to state side plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810679048.8A CN108840122A (en) | 2018-06-27 | 2018-06-27 | A kind of automatic loading machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810679048.8A CN108840122A (en) | 2018-06-27 | 2018-06-27 | A kind of automatic loading machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108840122A true CN108840122A (en) | 2018-11-20 |
Family
ID=64203686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810679048.8A Pending CN108840122A (en) | 2018-06-27 | 2018-06-27 | A kind of automatic loading machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108840122A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112693881A (en) * | 2021-01-28 | 2021-04-23 | 江西美琳康大药业股份有限公司 | Servo system for basket type medicine extraction basket |
-
2018
- 2018-06-27 CN CN201810679048.8A patent/CN108840122A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112693881A (en) * | 2021-01-28 | 2021-04-23 | 江西美琳康大药业股份有限公司 | Servo system for basket type medicine extraction basket |
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