CN111284988A

CN111284988A - Automatic loading and unloading device is carried in intelligence commodity circulation

Info

Publication number: CN111284988A
Application number: CN202010166384.XA
Authority: CN
Inventors: 于洋
Original assignee: 于洋
Priority date: 2020-03-11
Filing date: 2020-03-11
Publication date: 2020-06-16

Abstract

The invention discloses an intelligent automatic loading and unloading device for logistics transportation, and mainly relates to the field of logistics facilities. The lifting device comprises a frame, both ends all are equipped with first support arm around the bottom of frame, the one end and the frame of first support arm are articulated, and the other end is equipped with vacuum chuck, the middle part of first support arm is equipped with first cylinder, the one end and the first support arm of first cylinder are articulated, and the other end is articulated with the frame, the top of frame is equipped with elevating gear, elevating gear's top is equipped with the backup pad, the middle part at the top of backup pad is equipped with the roating seat, the top of roating seat is equipped with the second support arm, the top of second support arm is equipped with the third support arm, the one end that the second support arm was kept away from to the third support arm is equipped with the tongs, be equipped with the camera on the tongs. The invention has the beneficial effects that: it utilizes vacuum chuck to increase and grabs the land fertility, can improve stability, prevents to empty, can satisfy the loading and unloading work of heavier goods.

Description

Automatic loading and unloading device is carried in intelligence commodity circulation

Technical Field

The invention relates to the field of logistics facilities, in particular to an intelligent automatic loading and unloading device for logistics conveying.

Background

With the gradual popularization of high-rise shelves in the logistics industry, the traditional manual loading and unloading are difficult to meet the increasing logistics transportation requirements of people, the manual loading and unloading are gradually replaced by automatic loading and unloading, the existing transport vehicles with manipulators solve the problems of large workload and low efficiency of the manual loading and unloading, but still have the problems in use, in order to ensure that the transport vehicles smoothly move between the high-rise shelves, the size of the transport vehicles is limited, when the manipulator is used for transporting goods to the high-rise shelves, a lifting device needs to be installed on the transport vehicles, if the transported goods are heavy, when the manipulator is lifted to a certain height, due to the limitation of the size of the transport vehicles, the transport vehicles have the risk of dumping, and the heavy goods loading and unloading work cannot be met.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides an intelligent automatic loading and unloading device for logistics conveying, which utilizes a vacuum chuck to increase the ground gripping force, can improve the stability, prevent from toppling and meet the loading and unloading work of heavier goods.

In order to achieve the purpose, the invention is realized by the following technical scheme:

an intelligent automatic loading and unloading device for logistics transportation comprises a frame, wherein wheels are mounted at the bottom of the frame, first support arms are arranged at the front end and the rear end of the bottom of the frame, one end of each first support arm is hinged with the frame, a vacuum chuck is arranged at the other end of each first support arm, a first air cylinder is arranged in the middle of each first support arm, one end of each first air cylinder is hinged with each first support arm, the other end of each first air cylinder is hinged with the frame, a lifting device is arranged at the top of the frame, a support plate is arranged at the top of the lifting device, a rotary seat is arranged in the middle of the top of the support plate, a rotary shaft rotatably connected with the support plate is vertically arranged at the bottom of the rotary seat, a first motor for driving the rotary shaft to rotate is arranged on the support plate, a second support arm is arranged at the top of the rotary seat, a first hinge shaft is horizontally, the rotating seat is hinged with the second supporting arm through a first hinge shaft, a second motor for driving the first hinge shaft to rotate is arranged on the rotating seat, a third supporting arm is arranged at the top of the second supporting arm, a second hinge shaft is arranged at the bottom of the third supporting arm and is parallel to the first hinge shaft, the second hinge shaft is fixedly connected with the third supporting arm, the third supporting arm is hinged with the second supporting arm through the second hinge shaft, a third motor for driving the second hinge shaft to rotate is arranged on the second supporting arm, a gripper is arranged at one end of the third supporting arm far away from the second supporting arm, the gripper is hinged with the third supporting arm through the third hinge shaft, the third hinge shaft is fixedly connected with the gripper, a fourth motor for driving the third hinge shaft to rotate is arranged on the third supporting arm, and a camera is arranged on the gripper, the frame is provided with a controller, the first cylinder, the lifting device, the first motor, the second motor, the third motor, the fourth motor, the gripper and the camera are all in signal connection with the controller, and the controller is internally provided with a wireless transmission module.

Preferably, the bottom of the frame is provided with a magnetic resistance sensor, and a magnetic strip is laid on the ground.

Preferably, a first telescopic rod is arranged between the rotating seat and the second supporting arm, one end of the first telescopic rod is hinged to the rotating seat, and the other end of the first telescopic rod is hinged to the second supporting arm.

Preferably, a second telescopic rod is arranged between the second supporting arm and the third supporting arm, one end of the second telescopic rod is hinged to the second supporting arm, and the other end of the second telescopic rod is hinged to the third supporting arm.

Preferably, a third telescopic rod is arranged between the third supporting arm and the hand grip, one end of the third telescopic rod is hinged to the third supporting arm, and the other end of the third telescopic rod is hinged to the hand grip.

Preferably, the tongs include with third hinge shaft fixed connection linking arm, the one end that third hinge shaft was kept away from to the linking arm is equipped with the supporting seat, be equipped with two lead screws on the supporting seat, two the central line collineation of lead screw, and two the turning of lead screw is opposite, two be equipped with the fifth motor between the lead screw, two the lead screw all is connected with the fifth motor transmission, be equipped with on the lead screw and press from both sides tight arm, press from both sides tight arm and supporting seat sliding connection, be equipped with the screw that suits with the lead screw on pressing from both sides tight arm, the inboard that presss from both sides tight arm is equipped with the sucking disc.

Compared with the prior art, the invention has the beneficial effects that:

the first cylinder can adjust the angle of the first supporting arm in a telescopic manner, so that the vacuum chuck can be in close contact with the ground, and the frame can be firmly fixed on the ground by utilizing the adsorption force between the vacuum chuck and the ground, the length of the frame is prolonged, the stability of the frame is improved, the frame is prevented from toppling, and the loading and unloading work of heavier goods can be met; the lifting device can adjust the height of the rotating seat, the rotating seat can rotate around the rotating shaft, the second supporting arm can rotate around the first hinge shaft, the third supporting arm can rotate around the second hinge shaft, and the hand grip can rotate around the third hinge shaft, so that the hand grip is endowed with multiple degrees of freedom, and can be assembled and disassembled at different heights and different angles; the cargo state can be observed through the camera, so that the loading and unloading control is facilitated; the invention can be remotely controlled through the wireless transmission module; can replace manual loading and unloading, reduce staff's work burden, improve work efficiency.

Drawings

FIG. 1 is a schematic structural view of the present invention;

fig. 2 is a schematic view of the construction of the hand grip.

The reference numbers in the drawings: 1. a frame; 2. a wheel; 3. a first support arm; 4. a vacuum chuck; 5. a first cylinder; 6. a lifting device; 7. a support plate; 8. a rotating base; 9. a rotating shaft; 10. a first motor; 11. a second support arm; 12. a first hinge shaft; 13. a third support arm; 14. a second hinge shaft; 15. a gripper; 16. a third hinge shaft; 17. a camera; 18. a controller; 19. a magnetoresistive sensor; 20. a first telescopic rod; 21. a second telescopic rod; 22. a third telescopic rod; 23. a connecting arm; 24. a supporting seat; 25. a lead screw; 26. a fifth motor; 27. a clamp arm; 28. and (4) sucking discs.

Detailed Description

The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.

Example (b): referring to fig. 1, the invention relates to an intelligent automatic loading and unloading device for logistics transportation, which comprises a vehicle frame 1, wherein wheels 2 and a driving device for driving the wheels 2 to travel are mounted at the bottom of the vehicle frame 1, preferably, a magnetic guide mode can be adopted for controlling the movement of the vehicle frame 1, a magnetic resistance sensor 19 is arranged at the bottom of the vehicle frame 1, and a magnetic strip is laid on the ground. Both ends all are equipped with first support arm 3 around the bottom of frame 1, the one end of first support arm 3 is articulated with frame 1, and the other end is equipped with vacuum chuck 4, the middle part of first support arm 3 is equipped with first cylinder 5, the one end of first cylinder 5 is articulated with first support arm 3, and the other end is articulated with frame 1, and first cylinder 5 is flexible can adjust the angle of first support arm 3, can make vacuum chuck 4 and ground in close contact with, utilizes the adsorption affinity between vacuum chuck 4 and the ground, not only can be subaerial with the firm fixing of frame 1, has also prolonged length 1 of frame simultaneously, has improved the stability of frame 1, prevents to empty, can satisfy the loading and unloading work of heavier goods. The lifting device 6 is arranged at the top of the frame 1, the lifting device 6 can adopt a shear type lifting mechanism or a hydraulic lifting mechanism, the supporting plate 7 is arranged at the top of the lifting device 6, and the height of the supporting plate 7 is adjustable. The middle part at the top of backup pad 7 is equipped with roating seat 8, the vertical pivot 9 of being connected with backup pad 7 rotation that is equipped with in the bottom of roating seat 8, be equipped with in backup pad 7 and be used for driving pivot 9 pivoted first motor 10, first motor 10 starts, can drive roating seat 8 and rotate. The top of roating seat 8 is equipped with second support arm 11, the bottom level of second support arm 11 is equipped with first articulated shaft 12, first articulated

shaft

12 and 11 fixed connection of second support arm, roating seat 8 is articulated through first articulated shaft 12 and second support arm 11, be equipped with on the roating seat 8 and be used for driving first articulated shaft 12 pivoted second motor, the second motor starts, can drive second support arm 11 rotatory round the axial lead of first articulated shaft 12. Preferably, in order to ensure the stability of the rotation of the second support arm, a first telescopic rod 20 is arranged between the rotary seat 8 and the second support arm 11, one end of the first telescopic rod 20 is hinged to the rotary seat 8, the other end of the first telescopic rod is hinged to the second support arm 11, the first telescopic rod 20 is used for providing guidance for the rotation of the second support arm 11, and the telescopic range of the first telescopic rod 20 is used for limiting the rotation range of the second support arm 11 so as to ensure the stability of the rotation of the second support arm 11. The top of second support arm 11 is equipped with third support arm 13, the bottom of third support arm 13 is equipped with second articulated shaft 14, second articulated shaft 14 is parallel with first articulated shaft 12, second articulated shaft 14 and third support arm 13 fixed connection, third support arm 13 is articulated with second support arm 11 through second articulated shaft 14, be equipped with on the second support arm 11 and be used for driving second articulated shaft 14 pivoted third motor, the third motor starts, can drive third support arm 13 rotatory round the axial lead of second articulated shaft 14. Further, in order to ensure the stability of the rotation of the third support arm, a second telescopic rod 21 is arranged between the second support arm 11 and the third support arm 13, one end of the second telescopic rod 21 is hinged to the second support arm 11, the other end of the second telescopic rod is hinged to the third support arm 13, the second telescopic rod 21 is used for providing guidance for the rotation of the third support arm 13, and the telescopic range of the second telescopic rod 21 is used for limiting the rotation range of the third support arm 13 so as to ensure the stability of the rotation of the third support arm 13. The gripper 15 is arranged at one end, far away from the second support arm 11, of the third support arm 13, the gripper 15 is hinged to the third support arm 13 through a third hinge shaft 16, the third hinge shaft 16 is fixedly connected with the gripper 15, a fourth motor used for driving the third hinge shaft 16 to rotate is arranged on the third support arm 13, and the fourth motor is started to drive the gripper 15 to rotate around the axis line of the third hinge shaft 16. Preferably, in order to ensure the stability of the rotation of the hand grip, a third telescopic rod 22 is arranged between the third support arm 13 and the hand grip 15, one end of the third telescopic rod 22 is hinged to the third support arm 13, the other end of the third telescopic rod 22 is hinged to the hand grip 15, the third telescopic rod 22 is used for providing guidance for the rotation of the hand grip 15, and the telescopic range of the third telescopic rod 22 is used for limiting the rotation range of the hand grip 15, so as to ensure the stability of the rotation of the hand grip 15. Further, as shown in fig. 2, in order to improve the stability of the gripper for gripping goods, the gripper 15 includes a connecting arm 23 fixedly connected with the third hinge shaft 16, the connecting arm 23 is welded with a supporting seat 24 at the end far away from the third hinge shaft 16, two lead screws are arranged on the supporting seat, the center lines of the lead screws are collinear, and the turning directions of the lead screws are opposite, two fifth motors are arranged between the lead screws, the lead screws are all in transmission connection with the fifth motors, clamping arms are arranged on the lead screws, the clamping arms are in sliding connection with the supporting seat, nuts adapted to the lead screws are arranged on the clamping arms, and suckers are arranged on the inner sides of the clamping arms. The gripper 15 is provided with a camera 17, and the cargo state can be observed through the camera 17, so that the loading and unloading control is facilitated. The frame is characterized in that a controller 18 is arranged on the frame 1, the first air cylinder 5, the lifting device 6, the first motor 10, the second motor, the third motor, the fourth motor, the hand grip 15 and the camera 17 are in signal connection with the controller 18, and a wireless transmission module is arranged in the controller 18. The lifting device 6 can adjust the height of the rotating seat 8, the rotating seat 8 can rotate around the rotating shaft 9, the second supporting arm 11 can rotate around the first hinged shaft 12, the third supporting arm 13 can rotate around the second hinged shaft 14, and the gripper 15 can rotate around the third hinged shaft 16, so that the gripper 15 is endowed with multiple degrees of freedom, and can be assembled and disassembled at different heights and different angles; the invention can be remotely controlled through the wireless transmission module; can replace manual loading and unloading, reduce staff's work burden, improve work efficiency.

Claims

1. The utility model provides an automatic handling device is carried in intelligence commodity circulation, includes frame (1), wheel (2), its characterized in that are installed to the bottom of frame (1): the front end and the rear end of the bottom of the frame (1) are respectively provided with a first supporting arm (3), one end of each first supporting arm (3) is hinged to the frame (1), the other end of each first supporting arm (3) is provided with a vacuum chuck (4), the middle of each first supporting arm (3) is provided with a first air cylinder (5), one end of each first air cylinder (5) is hinged to the first supporting arm (3), the other end of each first air cylinder is hinged to the frame (1), the top of the frame (1) is provided with a lifting device (6), the top of the lifting device (6) is provided with a supporting plate (7), the middle of the top of the supporting plate (7) is provided with a rotating seat (8), the bottom of the rotating seat (8) is vertically provided with a rotating shaft (9) rotatably connected with the supporting plate (7), the supporting plate (7) is provided with a first motor (10) for driving the rotating shaft (9) to rotate, and the top of the, the bottom level of second support arm (11) is equipped with first articulated shaft (12), first articulated shaft (12) and second support arm (11) fixed connection, roating seat (8) is articulated through first articulated shaft (12) and second support arm (11), be equipped with on roating seat (8) and be used for driving first articulated shaft (12) pivoted second motor, the top of second support arm (11) is equipped with third support arm (13), the bottom of third support arm (13) is equipped with second articulated shaft (14), second articulated shaft (14) are parallel with first articulated shaft (12), second articulated shaft (14) and third support arm (13) fixed connection, third support arm (13) are articulated through second articulated shaft (14) and second support arm (11), be equipped with on second support arm (11) and be used for driving second articulated shaft (14) pivoted third motor, one end, far away from second support arm (11), of third support arm (13) is equipped with tongs (15), tongs (15) are articulated with third support arm (13) through third articulated shaft (16), third articulated shaft (16) and tongs (15) fixed connection, be equipped with on third support arm (13) and be used for driving third articulated shaft (16) pivoted fourth motor, be equipped with camera (17) on tongs (15), be equipped with controller (18) on frame (1), first cylinder (5), elevating gear (6), first motor (10), second motor, third motor, fourth motor, tongs (15), camera (17) all with controller (18) signal connection, be equipped with wireless transmission module in controller (18).

2. The intelligent logistics transportation automatic loading and unloading device of claim 1, wherein: the bottom of the frame (1) is provided with a magnetic resistance sensor (19), and a magnetic strip is laid on the ground.

3. The intelligent logistics transportation automatic loading and unloading device of claim 1, wherein: be equipped with first telescopic link (20) between roating seat (8) and second support arm (11), the one end and roating seat (8) of first telescopic link (20) are articulated, and the other end is articulated with second support arm (11).

4. The intelligent logistics transportation automatic loading and unloading device of claim 1, wherein: and a second telescopic rod (21) is arranged between the second supporting arm (11) and the third supporting arm (13), one end of the second telescopic rod (21) is hinged with the second supporting arm (11), and the other end of the second telescopic rod is hinged with the third supporting arm (13).

5. The intelligent logistics transportation automatic loading and unloading device of claim 1, wherein: and a third telescopic rod (22) is arranged between the third supporting arm (13) and the gripper (15), one end of the third telescopic rod (22) is hinged with the third supporting arm (13), and the other end of the third telescopic rod is hinged with the gripper (15).

6. The intelligent logistics transportation automatic loading and unloading device of claim 1, wherein: tongs (15) include with third hinge axle (16) fixed connection linking arm (23), the one end that third hinge axle (16) was kept away from in linking arm (23) is equipped with supporting seat (24), be equipped with two lead screw (25) on supporting seat (24), two the central line collineation of lead screw (25), and two the turning to of lead screw (25) is opposite, two be equipped with fifth motor (26) between lead screw (25), two lead screw (25) all are connected with fifth motor (26) transmission, be equipped with on lead screw (25) and press from both sides tight arm (27), press from both sides tight arm (27) and supporting seat (24) sliding connection, be equipped with the screw that suits with lead screw (25) on pressing from both sides tight arm (27), the inboard that presss from both sides tight arm (27) is equipped with sucking disc (28).