CN108974964A - A kind of container cargo intelligent mounting-dismounting device - Google Patents
A kind of container cargo intelligent mounting-dismounting device Download PDFInfo
- Publication number
- CN108974964A CN108974964A CN201810996805.4A CN201810996805A CN108974964A CN 108974964 A CN108974964 A CN 108974964A CN 201810996805 A CN201810996805 A CN 201810996805A CN 108974964 A CN108974964 A CN 108974964A
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- China
- Prior art keywords
- stacking
- rack
- mounting
- clamping jaw
- delivery track
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
Abstract
The invention discloses a kind of container cargo intelligent mounting-dismounting devices, including rack, rack is equipped with orbit transports mechanism, grasping mechanism, overturning are reformed mechanism, stacking mechanism and pallet switching mechanism, orbit transports mechanism includes perpendicular the first delivery track and the second delivery track；Grasping mechanism includes crawl mounting rack, imaging probe and two groups of vacuum chucks, draws the cargo in container by two groups of vacuum chucks；Overturning the mechanism that reforms includes mounting bracket, first hydraulic cylinder, reform motor and industrial camera；Stacking mechanism includes stacking clamping jaw, clamping jaw installing plate, overhanging beam, main body rack, and main body rack is fixed on the rack；Pallet switching mechanism is arranged in below the left side of the second delivery track, and the cargo of clamping is put on the bracket on stacking track and carries out stacking by stacking clamping jaw.The present invention have the advantage that compared with prior art be able to achieve carry out intelligent recognition automatically to the cargo in container, quick despatch, overturning are reformed, stacking.
Description
Technical field
The present invention relates to a kind of container cargo intelligent mounting-dismounting devices.
Background technique
Currently, the unloading mode that the cargo in container mainly uses is the method by manual handling, due to cargo compared with
It is more, man efficiency is relatively low, higher cost, be unfavorable for the handling of Large-scale container cargo.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of container cargo intelligent mounting-dismounting device,
With realize carry out intelligent recognition automatically to the cargo in container, quick despatch, overturning are reformed, stacking.
The present invention is achieved by the following technical solutions:
A kind of container cargo intelligent mounting-dismounting device, including rack, the rack are equipped with orbit transports mechanism, gripper
Structure overturns reform mechanism, stacking mechanism and pallet switching mechanism,
The orbit transports mechanism includes the first delivery track and the second delivery track, and first delivery track is along left and right
Direction extends, and second delivery track extends along the longitudinal direction, and the input end of the second delivery track and the first delivery track
Outlet end be mutually connected；
The first delivery track side and the input end close to the first delivery track, the crawl is arranged in the grasping mechanism
Mechanism includes the imaging probe and two groups of vacuum chucks for grabbing mounting rack and being arranged on crawl mounting rack, two groups of vacuum chucks
Including horizontally disposed horizontal vacuum sucker group and the vertical vacuum chuck group being vertically arranged, collection is drawn by two groups of vacuum chucks
Cargo in vanning, the crawl mounting rack side are slidably arranged in a vertical rails by the first sliding block, described vertical
Sliding rail is rotatably arranged in a vertical shaft and can rotate around shaft, and the shaft is slidably arranged in by the second sliding block
In the first horizontal slide rail that one front and back extends, the first horizontal slide rail left end is equipped with the support that a level is stretched out to the left
Bar, the support rod are slidably arranged on the second horizontal slide rail that left and right extends, and second horizontal slide rail is fixed on the rack；
The first delivery track side and the outlet end close to the first delivery track is arranged in the mechanism that reforms that overturns, described
Overturning the mechanism that reforms includes horizontal mounting bracket, and one end of the mounting bracket drives its lifting, institute by first hydraulic cylinder
The other end for stating mounting bracket is equipped with reform motor and industrial camera, and the industrial camera is used to detect the direction of the cargo of lower section
Whether crooked, the output shaft of the motor of reforming extends straight down and is connected with mounting plate of reforming, the mounting plate bottom of reforming
Portion is equipped with multiple suckers of reforming, and multiple suckers of reforming are located at the top of the first delivery track；
The stacking mechanism is arranged in the top of the second delivery track and at outlet end, and the stacking mechanism includes code
Pile clamping jaw, clamping jaw installing plate, overhanging beam, main body rack, the main body rack are fixed on the rack, and the overhanging beam is along right and left
To being horizontally disposed with, one end of the overhanging beam is slidably arranged on main body rack and can slide up and down along main body rack, described
Clamping jaw installing plate is arranged on overhanging beam and can move back and forth along overhanging beam, and the stacking clamping jaw is arranged at clamping jaw installing plate bottom
Portion, for clamping the cargo being located at the outlet end of the second delivery track；
The pallet switching mechanism is arranged in below the left side of the second delivery track, and the pallet switching mechanism includes one
Tray frame, the tray frame is interior to be equipped with stacking track, is used to place bracket on the stacking track, the stacking clamping jaw will
The cargo of clamping, which is put on the bracket, carries out stacking.
Further, the bottom of the frame is equipped with the longitudinal traveling wheel that can be walked in left-right direction and can be along front and back
To the lateral traveling wheel of walking, the lateral line suitcase with wheels includes four, and the bottom end of support arm, institute is arranged in each transverse direction traveling wheel
State that support arm is V-shaped, the middle part of the support arm hingedly on the rack, the top of the support arm and corresponding second hydraulic cylinder
Piston rod be connected, the cylinder body of the second hydraulic cylinder is rotatably arranged in rack, flexible by the piston rod of hydraulic cylinder, into
And support arm is driven to rotate around hinge joint, to drive the lateral line traveling wheel jacking of support arm bottom.
Further, in the grasping mechanism, the crawl mounting rack includes the vertical crawl peace of two of left and right settings
Loading board is connected between two crawl mounting plates by two rows connecting rod, and the both ends of two rows of connecting rods are pacified with two crawls respectively
Loading board is hinged, and two crawl mounting plates are respectively left crawl mounting plate and right crawl mounting plate, the left crawl mounting plate bottom
Equipped with inclined multiple first telescopic rods, the telescopic end of multiple first telescopic rods is one-to-one with the middle part of lower row's connecting rod respectively
It being hinged, the right crawl mounting plate is equipped with multiple second telescopic rods, and multiple second telescopic rods are arranged along the longitudinal direction in a row,
The telescopic end of each second telescopic rod stretches out to the right and is connected with respective first sucker unit, and each first sucker unit includes
First sucker mounting base and the multiple horizontal vacuum chucks towards the right side being arranged in the first sucker mounting base, multiple second is flexible
First sucker unit of bar right end forms the horizontal vacuum sucker group；Multiple second are additionally provided on the right side of the right crawl mounting plate
Sucker unit, each second sucker unit include the second sucker mounting base and are arranged in multiple perpendicular in the second sucker mounting base
Straight vacuum chuck directed downwardly, multiple second sucker units form the vertical vacuum chuck group.
Further, in the stacking mechanism, the main body rack is equipped with the first stacking motor, driven wheel, and described the
The output shaft of one stacking motor is equipped with driving wheel, and the driven wheel is located at the lower section of driving wheel, the driving wheel and driven wheel
Between by belt be sequentially connected, one end of the overhanging beam is fixed on the belt by a link block, is passed through
First stacking motor drives belt operating, and then overhanging beam is driven to move up and down.
Further, in the stacking mechanism, the overhanging beam be equipped with rack gear, the clamping jaw installing plate side be equipped with
The gear that rack gear matches is rotated by the second stacking motor-driven gear, and then drives clamping jaw installing plate left along overhanging beam
It moves right.
Further, in the stacking mechanism, the stacking clamping jaw includes the movable jaw and fixation that front and back is oppositely arranged
Clamping jaw, the stationary jaw are fixed on clamping jaw installing plate bottom, and the clamping jaw installing plate is equipped with rodless cylinder, the activity folder
Pawl top is connected with the sliding block of rodless cylinder, drives movable jaw to move back and forth along the longitudinal direction by rodless cylinder, in turn
Realize the clamp or release of stacking clamping jaw.
Further, in the pallet switching mechanism, front two rows stacking track, front-seat code are equipped in the tray frame
Pile rail base is equipped with delivery device, and empty bracket of the delivery device for that will be located on front-seat stacking track is pushed into heel row
On stacking track, the stacking clamping jaw will carry out stacking on bracket that the cargo of clamping is put on heel row stacking track.
Further, the delivery device includes push cylinder and push connecting rod, and the piston rod of the push cylinder is before
Rear direction extends back, and the push connecting rod is located at the rear of push cylinder and is obliquely installed, the low one end of the push connecting rod
It is connected with the piston rod of push cylinder, the top of the front-seat stacking track is stretched out in the high one end of the push connecting rod, described
It pushes and is equipped with a support guide rod extended straight down among connecting rod, the support guide rod bottom can be in corresponding guide chute
It inside slides back and forth, drives push connecting rod to be moved forward and backward by push cylinder, so that the top for pushing connecting rod be made to push bracket.
Further, side is additionally provided with crew department in the rack.
The present invention has the advantage that compared with prior art
A kind of container cargo intelligent mounting-dismounting device provided by the invention, be provided with orbit transports mechanism, grasping mechanism,
Reform mechanism, stacking mechanism and pallet switching mechanism are overturn, the cargo being stored in container is carried out by goods by grasping mechanism
Then the identification of object feature grabs cargo by vacuum chuck group, and be placed in orbit transports mechanism, passes through orbit transports mechanism
It is conveyed, then reformed by overturning the mechanism that reforms accordingly to the cargo of skew, so that cargo finally leads to towards unanimously
It crosses stacking mechanism to clamp cargo and be placed on the bracket placed in pallet switching mechanism, stacking is carried out, finally by fork truck
By the cradle transport of the good cargo of stacking to designated position, it is truly realized the automatic quick despatch of container cargo, just
In the unitized management of industry, relatively low, the at high cost situation of the man efficiency that the method for solving previous manual handling occurs is saved
Shi Shengli, it reduces cost, save labour, having high economic benefit and social benefit.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention.
Fig. 2 is the schematic perspective view of rack section of the invention.
Fig. 3 is the schematic perspective view of grasping mechanism of the invention.
Fig. 4 is that overturning of the invention is reformed the schematic perspective view of mechanism section.
Fig. 5 is the schematic perspective view of stacking mechanism of the invention.
Fig. 6 is the lateral view of pallet switching mechanism of the invention.
Figure label: 1 rack, 11 longitudinal traveling wheels, 12 lateral traveling wheels, 13 support arms, 14 second hydraulic cylinders, 2 tracks
Conveying mechanism, 21 first delivery tracks, 22 second delivery tracks, 3 grasping mechanisms, 31 crawl mounting racks, 311 left crawl installations
Plate, 312 right crawl mounting plates, 313 lower row's connecting rods, 314 first telescopic rods, 315 second telescopic rods, 32 horizontal vacuum sucker groups,
33 vertical vacuum chuck groups, 34 first sliding blocks, 35 vertical rails, 36 shafts, 37 second sliding blocks, 38 first horizontal slide rails, 39
Strut, 310 second horizontal slide rails, 4 overturnings are reformed mechanism, 41 mounting brackets, 42 first hydraulic cylinders, and 43 reform motor, and 44 reform
Mounting plate, 5 stacking mechanisms, 51 rodless cylinders, 52 clamping jaw installing plates, 53 overhanging beams, 54 main body racks, 55 first stacking motors,
56 driven wheels, 57 driving wheels, 58 belts, 59 rack gears, 510 gears, 511 movable jaws, 512 stationary jaws, 6 pallet interpreters
Structure, 61 front-seat stacking tracks, 62 heel row stacking tracks, 63 push cylinders, 64 push connecting rods, 65 support guide rods.
Specific embodiment
It elaborates below to the embodiment of the present invention, the present embodiment carries out under the premise of the technical scheme of the present invention
Implement, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to following implementation
Example.
Referring to Fig. 1 to Fig. 6, present embodiment discloses a kind of container cargo intelligent mounting-dismounting device, including rack 1, racks 1
It is equipped with orbit transports mechanism 2, grasping mechanism 3, overturns reform mechanism 4, stacking mechanism 5 and pallet switching mechanism 6.In rack 1
Side is additionally provided with crew department.
1 bottom of rack is equipped with the longitudinal traveling wheel 11 that can be walked in left-right direction and the cross that can be walked along the longitudinal direction
To traveling wheel 12, lateral traveling wheel 12 includes four, and the bottom end of support arm 13, support arm 13 is arranged in each transverse direction traveling wheel 12
V-shaped, the middle part of support arm 13 is hinged in rack 1, the piston rod on the top of support arm 13 and corresponding second hydraulic cylinder 14
It is connected, the cylinder body of second hydraulic cylinder 14 is rotatably arranged in rack 1, and it is flexible by the piston rod of hydraulic cylinder, and then drive branch
Brace 13 is rotated around hinge joint, so that the lateral traveling wheel 12 of 13 bottom of support arm be driven to go up and down.When the intelligent mounting-dismounting device
When needing to walk in left-right direction, the piston rod of four hydraulic cylinders stretches out, and drives four support arms 13 around respective hinge joint
Rotation, so that the lateral traveling wheel 12 of four 13 bottoms of support arm be driven to rise, four lateral traveling wheels 12 are upwards collected through, at this time
It is played a role by longitudinal traveling wheel 11, to realize longitudinal walking of entire intelligent mounting-dismounting device.When the intelligent mounting-dismounting device needs
When walking along the longitudinal direction, the piston rod of four hydraulic cylinders is retracted, and drives four support arms 13 anti-around respective hinge joint
To rotation, to drive the lateral traveling wheel 12 of four 13 bottoms of support arm to decline, when lateral traveling wheel 12 contact ground is subsequent
Continuous decline, and longitudinal traveling wheel 11 is finally made to be detached from ground, lateral traveling wheel 12 plays a role, to realize entire intelligence dress
The lateral walking of handler.
Orbit transports mechanism 2 includes the first delivery track 21 and the second delivery track 22, and the first delivery track 21 is along left and right
Direction extends, and the second delivery track 22 extends along the longitudinal direction, and the input end and the first delivery track of the second delivery track 22
21 outlet end is mutually connected.Two delivery tracks include multiple conveying rollers, drive multiple conveyings by sprocket wheel and chain drive
Roller rotation, and then realize the conveying to cargo.
21 side of the first delivery track and the input end close to the first delivery track 21, gripper is arranged in grasping mechanism 3
Structure 3 includes the imaging probe and two groups of vacuum chucks for grabbing mounting rack 31 and being arranged on crawl mounting rack 31, two groups of vacuum
Sucker includes the horizontally disposed vertical vacuum chuck group 33 horizontal vacuum sucker group 32 and be vertically arranged, and is inhaled by two groups of vacuum
Disk draws the cargo in container and carries out horizontal crawl or vertical crawl, grabs 31 side of mounting rack and is slided by the first sliding block 34
It is arranged in a vertical rails 35, vertical rails 35 are rotatably arranged in a vertical shaft 36 and can revolve around shaft 36
Turn, shaft 36 is slidably arranged in the first horizontal slide rail 38 that a front and back extends by the second sliding block 37, first horizontal slide rail
38 left ends are equipped with the support rod 39 that a level is stretched out to the left, and support rod 39 is slidably arranged in the second horizontal slide rail that left and right extends
On 310, the second horizontal slide rail 310 is fixed in rack 1.Wherein, the first sliding block 34 sliding up and down in vertical rails 35,
Two sliding blocks 37 slide back and forth in first horizontal slide rail 38 and support rod 39 horizontally slips on the second horizontal slide rail 310,
Driving method is electric drive mode.To realize to crawl mounting rack 31 and two groups of vacuum chucks thereon in vertical side
The adjusting of position on, these three directions of left and right directions, front-rear direction.
In grasping mechanism 3, crawl mounting rack 31 includes two vertical crawl mounting plates of left and right settings, two crawl peaces
It is connected between loading board by two rows connecting rod, the both ends of two rows of connecting rods are hinged with two crawl mounting plates respectively, and two are grabbed
Taking mounting plate is respectively left crawl mounting plate 311 and right crawl mounting plate 312, and left 311 bottom of crawl mounting plate is equipped with inclined
Multiple first telescopic rods 314, the telescopic end of multiple first telescopic rods 314 are one-to-one with the middle part of lower row's connecting rod 313 respectively
It is hinged, right crawl mounting plate 312 is equipped with multiple second telescopic rods 315, and multiple second telescopic rods 315 are arranged along the longitudinal direction is in
The telescopic end of one row, each second telescopic rod 315 stretch out to the right and are connected with respective first sucker unit, each first sucker
Unit includes the first sucker mounting base and the multiple levels being arranged in the first sucker mounting base towards right vacuum chucks, multiple
First sucker unit of 315 right end of the second telescopic rod forms horizontal vacuum sucker group 32；It is additionally provided on the right side of right crawl mounting plate 312
Multiple second sucker units, each second sucker unit include the second sucker mounting base and are arranged in the second sucker mounting base
Multiple vacuum chucks downwards, multiple second sucker units form vertical vacuum chuck group 33.Wherein, multiple first stretch
Contracting bar 314 and multiple second telescopic rods 315 drive its automatic telescopic by respective pneumatic cylinder.Pass through multiple first telescopic rods
The 314 right crawl mounting plates 312 of driving are moved up in vertical direction and right and left, to realize on right crawl mounting plate 312
The fine tuning with the position on left and right directions in the vertical direction of two groups of vacuum chucks.It is driven by multiple second telescopic rods 315
Multiple first sucker units it is flexible, to realize to the fine position in the lateral direction of horizontal vacuum sucker group 32.
It overturns the mechanism 4 that reforms and 21 side of the first delivery track and the outlet end close to the first delivery track 21 is set, turn over
Lapsing to positive mechanism 4 includes horizontal mounting bracket 41, and one end of mounting bracket 41 drives its lifting, peace by first hydraulic cylinder 42
The other end of dress bracket 41 is equipped with reform motor 43 and industrial camera, and whether the direction of cargo of the industrial camera for detecting lower section
The output shaft of skew, motor 43 of reforming extends straight down and is connected with mounting plate 44 of reforming, and 44 bottom of mounting plate of reforming is equipped with
Multiple suckers of reforming, multiple suckers of reforming are located at the top of the first delivery track 21.When industrial camera detects cargo location not
When being required direction, mounting bracket 41 is driven to be displaced downwardly to above cargo by first hydraulic cylinder 42, then by sucker crawl cargo of reforming
And rise, motor 43 of reforming effect so that crawl cargo rotation, after reaching required direction, by the cargo after reforming
It is put on the first delivery track 21.Then cargo is moved on the second delivery track 22 from the first delivery track 21, so that cargo
It is moved to the working range of Ma Duo mechanism.
Stacking mechanism 5 is arranged in the top of the second delivery track 22 and at outlet end, and stacking mechanism 5 is pressed from both sides including stacking
Pawl, clamping jaw installing plate 52, overhanging beam 53, main body rack 54, main body rack 54 are fixed in rack 1, and overhanging beam 53 is along right and left
To being horizontally disposed with, one end of overhanging beam 53 is slidably arranged on main body rack 54 and can slide up and down along main body rack 54, folder
Pawl mounting plate 52 is arranged on overhanging beam 53 and can move back and forth along overhanging beam 53, and stacking clamping jaw is arranged in clamping jaw installing plate 52
Bottom, for clamping the cargo being located at the outlet end of the second delivery track 22.In stacking mechanism 5, main body rack 54 is equipped with
First stacking motor 55, driven wheel 56, the output shaft of the first stacking motor 55 are equipped with driving wheel 57, and driven wheel 56 is located at actively
The lower section of wheel 57 is sequentially connected between driving wheel 57 and driven wheel 56 by belt 58, and one end of overhanging beam 53 passes through a company
It connects block to be fixed on belt 58, drives belt 58 to operate by the first stacking motor 55, and then drive about 53 overhanging beam
It is mobile.
In stacking mechanism 5, overhanging beam 53 is equipped with rack gear 59, and 52 side of clamping jaw installing plate is equipped with and matches with rack gear 59
Gear 510 is rotated by the second stacking motor-driven gear 510, and then drives clamping jaw installing plate 52 along overhanging beam 53 or so
It is mobile, and then the stacking clamping jaw in clamping jaw installing plate 52 is driven to move left and right.
In stacking mechanism 5, stacking clamping jaw includes the movable jaw 511 and stationary jaw 512 that front and back is oppositely arranged, fixing clamp
Pawl 512 is fixed on 52 bottom of clamping jaw installing plate, and clamping jaw installing plate 52 is equipped with rodless cylinder 51,511 top of movable jaw and nothing
The sliding block of bar cylinder 51 is connected, and drives movable jaw 511 to move back and forth along the longitudinal direction by rodless cylinder 51, and then realize
The clamp or release of stacking clamping jaw.
It in stacking mechanism 5, drives belt 58 to operate by the first stacking motor 55, and then drives overhanging beam 53 and thereon
Stacking clamping jaw moves up and down；It is rotated by the second stacking motor-driven gear 510, to drive clamping jaw installing plate 52 and thereon
Stacking clamping jaw moves left and right.When work, when the working range of goods movement to stacking mechanism 5, first in the second stacking motor
Under the action of, stacking clamping jaw is moved in left-right direction above the cargo on the second delivery track 22, then in the first stacking electricity
Stacking clamping jaw declines under the action of machine 55, and under the action of no rodless cylinder 51, movable jaw 511 is to close to stationary jaw 512
Direction it is mobile, thus by goods clamping.Then under the driving of the second stacking motor, stacking clamping jaw is moved to the left pallet and turns
It changes planes the top of structure 6, then under the driving of the first stacking motor 55, the cargo of stacking clamping jaw and clamping slowly declines, by cargo
It is placed on the bracket of pallet switching mechanism 6 and carries out stacking.
Pallet switching mechanism 6 is arranged in below the left side of the second delivery track 22, and pallet switching mechanism 6 includes a pallet
Frame, tray frame is interior to be equipped with stacking track, is used to place bracket on stacking track, the cargo of clamping is put into support by stacking clamping jaw
Stacking is carried out on frame.
In pallet switching mechanism 6, front two rows stacking track is equipped in tray frame, front-seat 61 bottom of stacking track is equipped with
Delivery device, empty bracket of the delivery device for that will be located on front-seat stacking track 61 are pushed into heel row stacking track 62, code
Pile clamping jaw will carry out stacking on bracket that the cargo of clamping is put on heel row stacking track 62.Delivery device includes push cylinder 63
With push connecting rod 64, the piston rod of push cylinder 63 extends back along the longitudinal direction, and push connecting rod 64 is located at push cylinder 63
Rear and be obliquely installed, the low one end of push connecting rod 64 is connected with the piston rod of push cylinder 63, push connecting rod 64 it is high one
The top of front-seat stacking track 61 is stretched out at end, is pushed and is equipped with a support guide rod 65 extended straight down among connecting rod 64, branch
Support 65 bottom of guide rod can slide back and forth in corresponding guide chute, move before and after driving push connecting rod 64 by push cylinder 63
It is dynamic, so that the top for pushing connecting rod 64 be made to push bracket.In the pallet switching mechanism 6, two rows of stacking tracks include multiple
Stacking conveying roller drives multiple stacking conveying rollers to rotate, and then realizes to its bracket and cargo by sprocket wheel and chain drive
Transport.When work, empty bracket is generally placed on front-seat stacking track 61 and passes through push when needing stacking cargo
The empty bracket being located on front-seat stacking track 61 is urged rearwardly on right section of heel row stacking track 62 by mechanism, into stacking area
Domain carries out stacking so that the cargo of clamping is put on the bracket of heel row stacking track 62 by stacking clamping jaw, after stacking is completed
Bracket is moved to the left non-stacking area on heel row stacking track 62, eventually by fork truck by the cradle transport of the good cargo of stacking
To designated position.
When work, which reaches container position, after positioning, identifies vacuum chuck group by imaging probe
The distance of cargo in container, posture before positioning vacuum chuck group grabs, then grasping mechanism 3 acts, and passes through gripper
The vacuum chuck group of structure 3 is carried on the first delivery track 21 from container interior suction picking object and it, passes through the first conveyor track
Road 21 conveys cargo to the left, when cargo is reached and overturn below the mechanism 4 that reforms, by overturning 4 pairs of crooked goods of mechanism of reforming
Object carries out position and reforms.Goods movement after reforming is conveyed along the second delivery track 22 backward to the second delivery track 22,
When the working range of goods movement to stacking mechanism 5, stacking mechanism 5 is acted, and stacking clamping jaw is by goods clamping, then second
Under the driving of stacking motor, stacking clamping jaw is moved to the left right section of top of heel row stacking track 62, then in the first stacking motor
Under 55 driving, the cargo of stacking clamping jaw and clamping slowly declines, and the bracket that cargo is placed on heel row stacking track 62 is enterprising
Row stacking, last stacking clamping jaw unclamp and are repositioned to initial position to clamp next cargo, complete the stacking of a cargo
Function.When the cargo that code is stamped on bracket be more than constant weight when, stacking complete after bracket on heel row stacking track 62 to
It moves left to non-stacking area, eventually by fork truck by the cradle transport of the good cargo of stacking to designated position, at the same time,
The empty bracket being located on front-seat stacking track 61 is urged rearwardly on right section of heel row stacking track 62 by delivery device, is entered
Stacking region, for the stacking of next cargo.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (9)
1. a kind of container cargo intelligent mounting-dismounting device, it is characterised in that: including rack, the rack is equipped with orbit transports machine
Structure, grasping mechanism, overturning are reformed mechanism, stacking mechanism and pallet switching mechanism,
The orbit transports mechanism includes the first delivery track and the second delivery track, and first delivery track is in left-right direction
Extend, second delivery track extends along the longitudinal direction, and the input end of the second delivery track and the first delivery track out
Mouth end is mutually connected；
The first delivery track side and the input end close to the first delivery track, the grasping mechanism is arranged in the grasping mechanism
Include including crawl mounting rack and the imaging probe and two groups of vacuum chucks that are arranged on crawl mounting rack, two groups of vacuum chucks
Horizontally disposed horizontal vacuum sucker group and the vertical vacuum chuck group being vertically arranged draw container by two groups of vacuum chucks
Interior cargo, the crawl mounting rack side are slidably arranged in a vertical rails by the first sliding block, the vertical rails
It is rotatably arranged in a vertical shaft and can be rotated around shaft, the shaft is slidably arranged in one by the second sliding block
In the first horizontal slide rail that front and back extends, the first horizontal slide rail left end is equipped with the support rod that a level is stretched out to the left, institute
It states support rod to be slidably arranged on the second horizontal slide rail that left and right extends, second horizontal slide rail is fixed on the rack；
The first delivery track side and the outlet end close to the first delivery track, the overturning is arranged in the mechanism that reforms that overturns
The mechanism that reforms includes horizontal mounting bracket, and one end of the mounting bracket drives its lifting, the peace by first hydraulic cylinder
The other end of dress bracket is equipped with reform motor and industrial camera, and whether the direction of cargo of the industrial camera for detecting lower section
Skew, the output shaft of the motor of reforming extend straight down and are connected with mounting plate of reforming, and the mounting plate bottom of reforming is set
There are multiple suckers of reforming, multiple suckers of reforming are located at the top of the first delivery track；
The stacking mechanism is arranged in the top of the second delivery track and at outlet end, and the stacking mechanism includes stacking folder
Pawl, clamping jaw installing plate, overhanging beam, main body rack, the main body rack are fixed on the rack, overhanging beam water in left-right direction
Flat setting, one end of the overhanging beam are slidably arranged on main body rack and can slide up and down along main body rack, the clamping jaw
Mounting plate is arranged on overhanging beam and can move back and forth along overhanging beam, and the stacking clamping jaw is arranged in clamping jaw installing plate bottom,
For clamping the cargo being located at the outlet end of the second delivery track；
The pallet switching mechanism is arranged in below the left side of the second delivery track, and the pallet switching mechanism includes a pallet
Frame, the tray frame is interior to be equipped with stacking track, is used to place bracket on the stacking track, the stacking clamping jaw will clamp
Cargo be put on the bracket and carry out stacking.
2. a kind of container cargo intelligent mounting-dismounting device as described in claim 1, it is characterised in that: the bottom of the frame is equipped with
The longitudinal traveling wheel that can be walked in left-right direction and the lateral traveling wheel that can be walked along the longitudinal direction, the transverse direction traveling wheel
Including four, the bottom end of support arm is arranged in each transverse direction traveling wheel, and the support arm is V-shaped, the middle part hinge of the support arm
It connects on the rack, the top of the support arm is connected with the piston rod of corresponding second hydraulic cylinder, the second hydraulic cylinder
Cylinder body is rotatably arranged in rack, flexible by the piston rod of hydraulic cylinder, and then support arm is driven to rotate around hinge joint, thus
Drive the lateral line traveling wheel jacking of support arm bottom.
3. a kind of container cargo intelligent mounting-dismounting device as described in claim 1, it is characterised in that: in the grasping mechanism,
The crawl mounting rack includes two vertical crawl mounting plates of left and right settings, passes through upper and lower two between two crawl mounting plates
Row's connecting rod is connected, and the both ends of two rows of connecting rods are hinged with two crawl mounting plates respectively, and two crawl mounting plates are respectively that a left side is grabbed
Taking mounting plate and right crawl mounting plate, the left crawl mounting plate bottom is equipped with inclined multiple first telescopic rods, and multiple first
Middle part of the telescopic end of telescopic rod respectively with lower row's connecting rod is hinged correspondingly, and the right crawl mounting plate is equipped with multiple
Second telescopic rod, multiple second telescopic rods are arranged along the longitudinal direction in a row, and the telescopic end of each second telescopic rod stretches out to the right simultaneously
It is connected with respective first sucker unit, each first sucker unit includes the first sucker mounting base and is arranged in the first sucker
Multiple horizontal towards right vacuum chuck in mounting base, the first sucker unit of multiple second telescopic rod right ends forms the level
Vacuum chuck group；It is additionally provided with multiple second sucker units on the right side of the right crawl mounting plate, each second sucker unit includes the
Two sucker mounting bases and the multiple vacuum chucks downwards being arranged in the second sucker mounting base, multiple second sucker lists
Member forms the vertical vacuum chuck group.
4. a kind of container cargo intelligent mounting-dismounting device as described in claim 1, it is characterised in that: in the stacking mechanism,
The main body rack is equipped with the first stacking motor, driven wheel, and the output shaft of the first stacking motor is equipped with driving wheel, institute
The lower section that driven wheel is located at driving wheel is stated, is sequentially connected between the driving wheel and driven wheel by belt, the overhanging beam
One end is fixed on the belt by a link block, drives belt operating by the first stacking motor, and then drive
Overhanging beam moves up and down.
5. a kind of container cargo intelligent mounting-dismounting device as described in claim 1, it is characterised in that: in the stacking mechanism,
The overhanging beam is equipped with rack gear, and the clamping jaw installing plate side is equipped with the gear matched with rack gear, passes through the second stacking electricity
The rotation of machine sliding tooth wheel, and then clamping jaw installing plate is driven to move left and right along overhanging beam.
6. a kind of container cargo intelligent mounting-dismounting device as described in claim 1, it is characterised in that: in the stacking mechanism,
The stacking clamping jaw includes the movable jaw and stationary jaw that front and back is oppositely arranged, and the stationary jaw is fixed on clamping jaw installing plate
Bottom, the clamping jaw installing plate are equipped with rodless cylinder, and the movable jaw top is connected with the sliding block of rodless cylinder, passes through
Rodless cylinder drives movable jaw to move back and forth along the longitudinal direction, and then realizes the clamp or release of stacking clamping jaw.
7. a kind of container cargo intelligent mounting-dismounting device as described in claim 1, it is characterised in that: the pallet switching mechanism
In, front two rows stacking track is equipped in the tray frame, front-seat stacking rail base is equipped with delivery device, the pusher
Empty bracket of the structure for that will be located on front-seat stacking track is pushed into heel row stacking track, and the stacking clamping jaw is by the goods of clamping
Stacking is carried out on the bracket that object is put on heel row stacking track.
8. a kind of container cargo intelligent mounting-dismounting device as claimed in claim 7, it is characterised in that: the delivery device includes
Push cylinder and push connecting rod, the piston rod of the push cylinder extend back along the longitudinal direction, and the push connecting rod, which is located at, to be pushed away
Supply gas cylinder rear and be obliquely installed, the low one end of the push connecting rod is connected with the piston rod of push cylinder, the push
The top of the front-seat stacking track is stretched out in the high one end of connecting rod, extends straight down among the push connecting rod equipped with one
Support guide rod, the support guide rod bottom can slide back and forth in corresponding guide chute, drive push to connect by push cylinder
Bar is moved forward and backward, so that the top for pushing connecting rod be made to push bracket.
9. a kind of container cargo intelligent mounting-dismounting device as claimed in claim 7, it is characterised in that: side is also in the rack
It is provided with crew department.
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| CN201810996805.4A CN108974964B (en) | 2018-08-29 | 2018-08-29 | Intelligent loading and unloading device for container cargo |
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| CN201810996805.4A CN108974964B (en) | 2018-08-29 | 2018-08-29 | Intelligent loading and unloading device for container cargo |
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| CN108974964B CN108974964B (en) | 2023-05-02 |
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| CN113682813A (en) * | 2021-08-31 | 2021-11-23 | 青岛创科未来机器人科技有限公司 | Cold chain container carton cargo loading and unloading clamp and method |
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| CN114919796A (en) * | 2022-05-27 | 2022-08-19 | 天能电池集团（安徽）有限公司 | Automatic stacker crane of lead-acid storage battery production assembly line |
| CN114919796B (en) * | 2022-05-27 | 2024-04-02 | 天能电池集团（安徽）有限公司 | Automatic stacker for lead-acid storage battery production assembly line |
| CN115285700A (en) * | 2022-07-05 | 2022-11-04 | 赵民 | A handling device that is used for transportation of likepowder building materials to have a stack function |
| CN115215107A (en) * | 2022-07-13 | 2022-10-21 | 泉州市科盛包装机械有限公司 | Automatic stacking method |
| WO2024042534A1 (en) * | 2022-08-25 | 2024-02-29 | Shailesh GUPTA | A robotic equipment for loading and unloading of gas cylinders and method thereof |
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