CN111232661A - Multi-arm rotary loading manipulator and loading stacker thereof - Google Patents
Multi-arm rotary loading manipulator and loading stacker thereof Download PDFInfo
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- CN111232661A CN111232661A CN202010124870.5A CN202010124870A CN111232661A CN 111232661 A CN111232661 A CN 111232661A CN 202010124870 A CN202010124870 A CN 202010124870A CN 111232661 A CN111232661 A CN 111232661A
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- arm
- rotary
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- loading
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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
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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
- B65G47/904—Devices for picking-up and depositing articles or materials provided with rotary movements only
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention relates to a multi-arm rotary loading manipulator and a loading stacker crane thereof, belonging to loading stacking equipment. The invention adopts the technical scheme that the manipulator comprises a rotating arm taking the middle position as a rotating center, the rotating arm is arranged on a suspended fixed or moving mechanism through a rotating driving structure, the free end of the rotating arm is provided with at least two rotating joint arms distributed at equal angles, the rotating joint arms rotate and swing by taking the free end of the rotating arm as a rotating center, each rotating joint arm consists of a plurality of sections of rotating joint arms, and the end part of each rotating joint arm is provided with a loading manipulator. The invention has the advantages that: the loading and stacking mechanical arms are at least two through the rotating arms, so that the work efficiency of transferring or stacking can be improved; the two groups of mechanical arms do not stop in the rotating rotation, so that the time in reciprocating work is saved; the moving range of the manipulator is enlarged through the rotating arm, and the manipulator is suitable for operation in a larger range in a transshipment area.
Description
Technical Field
The invention relates to a multi-arm rotary loading manipulator and a loading stacker crane thereof, belonging to loading stacking equipment.
Background
The traditional transshipment is manual handling, needs a large amount of labor force, is slow in actual effect, and is not suitable for the current industrial production and transportation efficiency.
In recent years, the transfer manipulator gradually used in large scale is of a single-arm structure, the taking, moving, placing, moving and taking are carried out in a circulating mode in the loading process, and the transfer speed depends on the working efficiency of the manipulator. For the current large-tonnage delivery trucks, the loading and stacking speed of the single-arm transshipment manipulator is low, and the loading can be completed in a long time, so that the transportation efficiency is affected.
When the loading stacking manipulator matched with the mobile loading equipment is used for conveying in the face of a quick conveying belt, loading stacking can not be effectively and quickly realized, and the use of the mobile loading equipment is restricted.
Disclosure of Invention
The invention provides a multi-arm rotary loading manipulator and a loading stacker crane thereof, which solve the problem of low loading and stacking efficiency of a conventional single-arm manipulator.
In order to achieve the aim, the invention adopts the technical scheme that,
the multi-arm rotary loading manipulator comprises a rotating arm taking the middle position as a rotating center, wherein the rotating arm is arranged on a suspended fixed or moving mechanism through a rotary driving structure, the free end of the rotating arm is provided with at least two rotary joint arms distributed at equal angles, the rotary joint arms rotate and swing by taking the free end of the rotating arm as a rotating center, each rotary joint arm consists of a plurality of sections of rotary joint arms, and the end part on each rotary joint arm is provided with a loading manipulator.
Preferably, the rotary joint arm swings on the free end horizontal plane of the rotary arm in a rotating way,
preferably, the swivel joint arm swivels on a free end vertical surface of the swivel arm.
Further preferably, the two articulated arms of the rotary articulated arm perform a rotational movement in a horizontal plane.
Further preferably, the two articulated arms of the rotary articulated arm rotate on a vertical plane
Preferably, the rotating arm is a single-arm structure horizontally arranged in the transverse direction, the rotating joint arm is composed of two joint arms, the rotating driving mechanisms are respectively arranged between the two rotating joint arms and between the rotating joint arm and the rotating arm, and the loading manipulator is hinged to the outermost rotating joint arm through the rotating driving mechanisms.
Preferably, the loading manipulator comprises a taking and placing frame and two swinging arms arranged on two sides of the taking and placing frame, the swinging arms are hinged to the taking and placing frame at positions close to the upper parts, an air cylinder is arranged between the taking and placing frame and the upper end parts of the swinging arms, the two swinging arms are symmetrically arranged relative to the middle section of the taking and placing frame, the lower ends of the swinging arms are provided with bending fingers perpendicular to the swinging arms, and a bag pressing mechanism is arranged on the lower part of the taking and placing frame.
Preferably, the bending finger is hinged to the lower end of the swinging arm through a hinged shaft, the hinged shaft penetrates through one end of a steel wire rope, the other end of the steel wire rope penetrates through the driving shaft, a torsional spring is arranged on the driving shaft, the steel wire rope applies pressure to the bending finger and the swinging arm to keep the bending finger and the swinging arm perpendicular to each other, the driving shaft is arranged on the swinging arm, a ratchet wheel is arranged on the driving shaft, the swinging arm is provided with a pinch roller lever and a bending cylinder above the driving shaft, the extending end of the bending cylinder is hinged to the upper end of the pinch roller lever, and the ratchet wheel is pressed by the lower end.
The loading stacker crane with the multi-arm rotary loading manipulator comprises a pair of moving rails and a moving loader, wherein the pair of moving rails are located above a conveying line, the moving loader moves along the moving rails, a moving wheel set is arranged on the lower portion of the moving loader and moves on the moving rails, a lifting mechanism is arranged in the moving loader, a winch device is arranged above the moving loader and drives the lifting mechanism to lift, a bag swinging mechanism and the multi-arm rotary loading manipulator are arranged below the lifting mechanism, the bag swinging mechanism is connected with the conveying line, the multi-arm rotary loading manipulator is located behind the bag swinging mechanism and is connected with the lifting mechanism through a rotary driving structure.
Preferably, the lifting mechanism is divided into an upper lifting device and a lower lifting device, the upper lifting device is arranged in the mobile loader and lifts along a guide mechanism of the mobile loader, a centering beam perpendicular to the direction of the moving track is arranged at the lower part of the upper lifting device, a centering moving wheel is arranged at the top of the lower lifting device and is positioned on the centering beam, a rack driving device is arranged between the upper lifting device and the lower lifting device, and the rack driving device drives the centering moving wheel of the lower lifting device to move on the centering beam.
The invention has the advantages that: the loading and stacking mechanical arms are at least two through the rotating arms, so that the work efficiency of transferring or stacking can be improved;
the two groups of mechanical arms do not stop in the rotating rotation, so that the time in reciprocating work is saved;
the moving range of the manipulator is enlarged through the rotating arm, and the manipulator is suitable for operation in a larger range in a transshipment area.
Drawings
Figure 1 is a front view of embodiment 1 of the multi-arm rotary loading robot of the present invention,
figure 2 is a top view of embodiment 1 of the multi-arm rotary loading robot of the present invention,
figure 3 is a perspective view of embodiment 1 of the multi-arm rotary loading robot of the present invention,
figure 4 is a front view of embodiment 2 of the multi-arm rotary loading robot of the present invention,
figure 5 is a top view of embodiment 2 of the multi-arm rotary loading robot of the present invention,
figure 6 is an enlarged partial view of the multi-arm rotary loading robot of the present invention,
figure 7 is a side view of the loading robot of the multi-arm rotary loading robot of the present invention,
figure 8 is a block diagram of the loading stacker of the present invention,
figure 9 is a side view of the loading stacker of the present invention,
figure 10 is a block diagram of the rack drive in the loader stacker of the present invention,
reference numerals:
1. the device comprises a rotating arm, 2, a rotating joint arm, 3, a loading manipulator, 4, a taking and placing frame, 5, a swinging arm, 6, a gripper cylinder, 7, a bending finger, 8, a bag pressing mechanism, 9, a hinge shaft, 10, a steel wire rope, 11, a driving shaft, 12, a ratchet wheel, 13, a pinch roller lever, 14, a bending cylinder, 15, a moving track, 16, a moving loader, 17, a lifting mechanism, 18, a winch device, 19, a rotating driving structure, 20, an upper lifting device, 21, a lower lifting device, 22, a centering beam, 23, a centering moving wheel, 24, a rack driving device, 25 and a bag swinging mechanism.
Detailed Description
The following further illustrates the specific structure of the present invention:
the multi-arm rotary loading manipulator of the invention has the structure shown in figures 1-5. Including using the intermediate position as the swivel arm 1 of centre of rotation, swivel arm 1 sets up on unsettled fixed or kinematic mechanism through rotary driving structure 19, sets up in this patent in the elevation structure below of mobile loader.
At least two multi-section rotary joint arms 2 distributed at equal angles are arranged at the free end of a rotary arm 1, and as shown in figure 1, the rotary arm 1 is a single-arm structure horizontally arranged in a transverse direction. The multi-joint rotary joint arm 2 is rotated and swung with the free end of the rotating arm 1 as a rotation center, and a loading robot 3 is provided at an end portion of the multi-joint rotary joint arm 2.
The rotary joint arm 2 is composed of two joint arms, rotary driving mechanisms are respectively arranged between the two rotary joint arms 2 and between the rotary joint arm 2 and the rotary arm 1, and the loading manipulator 3 is hinged at the outermost position of the rotary joint arm 2 through a rotary driving structure 19.
The rotating arms 1 can also be arranged in a plurality of radial shapes, and a group of rotating joint arms 2 and corresponding transshipment manipulators are respectively arranged at the free end of each rotating arm 1.
The swivel arm 2 has two arrangements, namely swivel modes, at the free end of the swivel arm 1.
Example 1, as shown in fig. 1-3, a rotary articulated arm 2 is swiveled on the level of the free end of a swivel arm 1. The two articulated arms of the rotary articulated arm 2 rotate in a horizontal plane, or the two articulated arms of the rotary articulated arm 2 rotate in a vertical plane.
Example 2, as shown in fig. 4 to 5, the rotary joint arm 2 is rotationally swung on the free end vertical face of the rotary arm 1. The two articulated arms of the rotary articulated arm 2 rotate in a horizontal plane, or the two articulated arms of the rotary articulated arm 2 rotate in a vertical plane.
The loading robot 3 is specifically configured as shown in fig. 6 and 7, and includes a pick-and-place frame 4, and two swing arms 5 disposed on both sides of the pick-and-place frame 4. The swing arms 5 are hinged to the taking and placing frame 4 at positions close to the upper portion, a gripper cylinder 6 is arranged between the taking and placing frame 4 and the upper end portions of the swing arms 5, and the two swing arms 5 are symmetrically arranged relative to the middle section of the taking and placing frame 4.
The lower end of the swing arm 5 is provided with a bending finger 7 vertical to the swing arm 5, and the lower part of the taking and placing frame 4 is provided with a bag pressing mechanism 8. The bending finger 7 is hinged to the lower end of the swing arm 5, the hinge shaft 9 penetrates through one end of the steel wire rope 10, the other end of the steel wire rope 10 penetrates through the driving shaft 11, the steel wire rope 10 applies pressure to the bending finger 7 and the swing arm 5 to keep the bending finger 7 and the swing arm 5 perpendicular, the driving shaft 11 is arranged on the swing arm 5, the driving shaft 11 is provided with the ratchet wheel 12, the swing arm 5 is provided with the pinch roller lever 13 and the bending cylinder 14 above the driving shaft 11, the extending end of the bending cylinder 14 is hinged to the upper end of the pinch roller lever 13, and the lower end of the pinch roller lever 13 presses the ratchet wheel 12 to guarantee that the steel wire.
The embodiment of the invention is a loading stacker, which is structurally shown in fig. 8-10 and comprises a pair of moving rails 15 above a conveying line and a moving loader 16 moving along the moving rails 15. The lower part of the mobile loader 16 is provided with a mobile wheel set which moves on a mobile track 15, the mobile loader 16 is internally provided with a lifting mechanism 17, a winch device 18 is arranged above the mobile loader 16 to drive the lifting mechanism 17 to lift, a bag swinging mechanism and the multi-arm rotary loading manipulator are arranged below the lifting mechanism 17, the bag swinging mechanism is connected with the conveying line, the multi-arm rotary loading manipulator is arranged behind the bag swinging mechanism, and the multi-arm rotary loading manipulator is connected with the lifting mechanism 17 through a rotary driving structure 19.
The lifting mechanism 17 is divided into an upper lifting device 20 and a lower lifting device 21, the upper lifting device 20 is arranged in the mobile loader 16 and moves up and down along a guide mechanism of the mobile loader 16, a centering beam 22 perpendicular to the direction of the mobile track 15 is arranged at the lower part of the upper lifting device 20, a centering moving wheel 23 is arranged at the top of the lower lifting device 21 and is positioned on the centering beam 22, a rack driving device 24 is arranged between the upper lifting device 20 and the lower lifting device 21, and the centering moving wheel 23 of the lower lifting device 21 is driven by the rack driving device 24 to move on the centering beam 22.
Claims (10)
1. A multi-arm rotary loading manipulator is characterized by comprising a rotating arm (1) taking the middle position as a rotating center, wherein the rotating arm (1) is arranged on a suspended fixed or moving mechanism through a rotary driving structure (19), the free end of the rotating arm (1) is provided with at least two multi-section rotary joint arms (2) distributed at equal angles, the multi-section rotary joint arms (2) rotate and swing by taking the free end of the rotating arm (1) as the rotating center, and the end part of each multi-section rotary joint arm (2) is provided with a loading manipulator (3).
2. The multi-arm rotary loading manipulator according to claim 1, characterized in that the rotary articulated arm (2) oscillates in rotation on the level of the free end of the rotary arm (1).
3. The multi-arm rotary loading manipulator according to claim 1, characterized in that the articulated rotary arm (2) is oscillating in rotation on a vertical plane at the free end of the rotary arm (1).
4. A multi-arm rotary loading manipulator according to claim 2 or 3, characterized in that the two articulated arms of the rotary articulated arm (2) are moved in rotation in a horizontal plane.
5. A multi-arm rotary loading manipulator according to claim 2 or 3, characterized in that the two articulated arms of the rotary articulated arm (2) move in rotation on a vertical plane.
6. The multi-arm rotary loading manipulator of claim 1, characterized in that the rotary arm (1) is a single-arm structure horizontally arranged, the rotary joint arm (2) is composed of two joint arms, rotary driving mechanisms are respectively arranged between the two rotary joint arms (2) and between the rotary joint arm (2) and the rotary arm (1), and the loading manipulator (3) is hinged on the outermost end of the rotary joint arm (2) through a rotary driving mechanism (19).
7. The multi-arm rotary loading manipulator of claim 6, wherein the loading manipulator (3) comprises a pick-and-place frame (4) and two swing arms (5) arranged on two sides of the pick-and-place frame (4), the swing arms (5) are hinged to the pick-and-place frame (4) near the upper part, a gripper cylinder (6) is arranged between the pick-and-place frame (4) and the upper ends of the swing arms (5), the two swing arms (5) are symmetrically arranged relative to the middle section of the pick-and-place frame (4), the lower ends of the swing arms (5) are provided with bending fingers (7) perpendicular to the swing arms (5), and a bag pressing mechanism (8) is arranged on the lower part of the.
8. The multi-arm rotary loading manipulator of claim 7, wherein the bending finger (7) is hinged to the lower end of the swing arm (5) through a hinge shaft, the hinge shaft (9) penetrates through one end of a steel wire rope (10), the other end of the steel wire rope (10) penetrates through a drive shaft (11), a torsion spring is arranged on the drive shaft (11), the steel wire rope (10) applies pressure to the bending finger (7) and the swing arm (5) to keep the bending finger (7) and the swing arm (5) perpendicular to each other, the drive shaft (11) is arranged on the swing arm (5), a ratchet wheel (12) is arranged on the drive shaft (11), a lever pressing wheel (13) and a bending cylinder (14) are arranged above the drive shaft (11) of the swing arm (5), the extending end of the bending cylinder (14) is hinged to the upper end of the lever pressing wheel (13), and the lower end of the pressing wheel lever (13) presses the ratchet wheel (12) to ensure that the steel wire rope (10) on the.
9. A loading stacker crane provided with a multi-arm rotary loading manipulator as claimed in claim 1, characterized by comprising a pair of moving rails (15) above a conveying line and a moving loader (16) moving along the moving rails (15), wherein the moving wheel set is arranged at the lower part of the moving loader (16) and moves on the moving rails (15), a lifting mechanism (17) is arranged in the moving loader (16), a winch device (18) is arranged above the moving loader (16) to drive the lifting mechanism (17) to lift, a bag swinging mechanism and the multi-arm rotary loading manipulator are arranged below the lifting mechanism (17), the bag swinging mechanism is connected with the conveying line, the multi-arm rotary loading manipulator is arranged behind the bag swinging mechanism, and the multi-arm rotary loading manipulator is connected with the lifting mechanism (17) through a rotary driving structure (19).
10. A loading stacker according to claim 9, wherein the lifting mechanism (17) is divided into an upper lifting device (20) and a lower lifting device (21), the upper lifting device (20) is arranged in the mobile loader (16) to lift along a guide mechanism of the mobile loader (16), a centering beam (22) perpendicular to the direction of the mobile rail (15) is arranged at the lower part of the upper lifting device (20), a centering moving wheel (23) is arranged at the top of the lower lifting device (21) and is positioned on the centering beam (22), a rack driving device (24) is arranged between the upper lifting device (20) and the lower lifting device (21), and the rack driving device (24) drives the centering moving wheel (23) of the lower lifting device (21) to move on the centering beam (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010124870.5A CN111232661A (en) | 2020-02-27 | 2020-02-27 | Multi-arm rotary loading manipulator and loading stacker thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010124870.5A CN111232661A (en) | 2020-02-27 | 2020-02-27 | Multi-arm rotary loading manipulator and loading stacker thereof |
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| Publication Number | Publication Date |
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| CN111232661A true CN111232661A (en) | 2020-06-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010124870.5A Pending CN111232661A (en) | 2020-02-27 | 2020-02-27 | Multi-arm rotary loading manipulator and loading stacker thereof |
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Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203237774U (en) * | 2012-10-08 | 2013-10-16 | 高国强 | Dobby grabbing and placing mechanical hand |
| CN204487547U (en) * | 2014-11-19 | 2015-07-22 | 杭州锐冠精工机械有限公司 | A kind of multi-arm manipulator |
| CN106112952A (en) * | 2016-06-27 | 2016-11-16 | 北京工业大学 | Both arms installation transfer robot |
| CN205835298U (en) * | 2016-05-03 | 2016-12-28 | 让鸿宇 | A kind of multi-arm mechanical hand |
| CN206108449U (en) * | 2016-08-31 | 2017-04-19 | 长沙长泰机器人有限公司 | Automatic loading system of van |
| CN107902438A (en) * | 2017-12-22 | 2018-04-13 | 长沙长泰机器人有限公司 | Automatic loading transport system |
| CN108609410A (en) * | 2018-05-20 | 2018-10-02 | 成都鸿源锦程机器人有限公司 | A kind of wiper arm formula automatic loading robot |
| CN209504143U (en) * | 2018-12-28 | 2019-10-18 | 长沙长泰机器人有限公司 | A kind of material gripping device and robot |
| CN110434842A (en) * | 2019-08-23 | 2019-11-12 | 东莞市万威自动化设备有限公司 | A kind of multi-arm manipulator and execute method |
-
2020
- 2020-02-27 CN CN202010124870.5A patent/CN111232661A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203237774U (en) * | 2012-10-08 | 2013-10-16 | 高国强 | Dobby grabbing and placing mechanical hand |
| CN204487547U (en) * | 2014-11-19 | 2015-07-22 | 杭州锐冠精工机械有限公司 | A kind of multi-arm manipulator |
| CN205835298U (en) * | 2016-05-03 | 2016-12-28 | 让鸿宇 | A kind of multi-arm mechanical hand |
| CN106112952A (en) * | 2016-06-27 | 2016-11-16 | 北京工业大学 | Both arms installation transfer robot |
| CN206108449U (en) * | 2016-08-31 | 2017-04-19 | 长沙长泰机器人有限公司 | Automatic loading system of van |
| CN107902438A (en) * | 2017-12-22 | 2018-04-13 | 长沙长泰机器人有限公司 | Automatic loading transport system |
| CN108609410A (en) * | 2018-05-20 | 2018-10-02 | 成都鸿源锦程机器人有限公司 | A kind of wiper arm formula automatic loading robot |
| CN209504143U (en) * | 2018-12-28 | 2019-10-18 | 长沙长泰机器人有限公司 | A kind of material gripping device and robot |
| CN110434842A (en) * | 2019-08-23 | 2019-11-12 | 东莞市万威自动化设备有限公司 | A kind of multi-arm manipulator and execute method |
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Application publication date: 20200605 |