CN111731174A - A truck with an automatic loading device for loading and unloading bagged goods - Google Patents
A truck with an automatic loading device for loading and unloading bagged goods Download PDFInfo
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- CN111731174A CN111731174A CN202010437013.0A CN202010437013A CN111731174A CN 111731174 A CN111731174 A CN 111731174A CN 202010437013 A CN202010437013 A CN 202010437013A CN 111731174 A CN111731174 A CN 111731174A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/54—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading
- B60P1/5438—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading with a moveable base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P1/00—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading
- B60P1/54—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading
- B60P1/5438—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading with a moveable base
- B60P1/5442—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading with a moveable base attached to the roof of the vehicle
- B60P1/5447—Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading with a moveable base attached to the roof of the vehicle and having the first pivot on a horizontal axis
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Abstract
为了提高货车对袋装货物的装卸速度、效率和自动化程度。本发明所述带有自动装载装置用于装卸袋装货物的货车,包括车体和设置在车体上的车厢,车厢上还设置有自动装载装置,所述自动装置包括控制装置、第一方向运动机构、第二方向运动机构和第三方向运动机构,第三方向运动机构末端设置有抓取结构。本发明使用时,抓取结构用于抓取货物,通过第一方向运动机构带动货物沿着第一方向移动,通过第二方向运动机构带动货物沿着第二方向移动,第三方向运动机构带动货物沿着第三方向移动,即可轻松实现货物的装卸,提高了装卸效率,并降低了劳动强度。
In order to improve the speed, efficiency and automation of loading and unloading of bagged goods by trucks. The truck with an automatic loading device for loading and unloading bagged goods according to the present invention includes a vehicle body and a carriage arranged on the vehicle body, an automatic loading device is also provided on the carriage, and the automatic device includes a control device, a first direction The movement mechanism, the second-direction movement mechanism and the third-direction movement mechanism are provided with a grabbing structure at the end of the third-direction movement mechanism. When the present invention is used, the grasping structure is used to grasp the goods, the first direction movement mechanism drives the goods to move along the first direction, the second direction movement mechanism drives the goods to move along the second direction, and the third direction movement mechanism drives the goods to move along the second direction. When the goods move along the third direction, the loading and unloading of the goods can be easily realized, which improves the loading and unloading efficiency and reduces the labor intensity.
Description
技术领域technical field
本发明涉及货车技术领域,特别涉及一种带有自动装载装置用于装卸袋装货物的货车。The invention relates to the technical field of trucks, in particular to a truck with an automatic loading device for loading and unloading bagged goods.
背景技术Background technique
随着网上购物及物流行业的发展,智能化已经融入到生活的各方面,人们正追更好更高效的物流服务。货车作为箱装货物运输的重要工具,对网上购物和物流服务有着举足轻重的影响,如物流的各个阶段的前后或同一阶段的不同活动之间,都必须进行装卸搬运作业,通常经联合运输的货物,要经过4次以上的装卸搬运与换装(多则经过十几次),其费用约占运输费用的25%左右,在许多生产领域和流通领域中,装卸和搬运已经成为生产过程的重要组成部分和关键保障系统,比如采掘业的主要生产过程,实质上就是装卸搬运;又如在加工业和流通业,装卸搬运是生产工艺过程中不可缺少的组成部分,据调查资料我国机械工广用于装卸搬运的成本为加工成本的15.5%,并且当运输过程结束,货物要进入仓库前,必须有装卸搬运作业。With the development of online shopping and the logistics industry, intelligence has been integrated into all aspects of life, and people are chasing better and more efficient logistics services. As an important tool for the transportation of boxed goods, trucks have a decisive impact on online shopping and logistics services. For example, before and after each stage of logistics or between different activities in the same stage, loading, unloading and handling operations must be carried out. , It takes more than 4 times of loading, unloading, handling and reloading (more than a dozen times), and its cost accounts for about 25% of the transportation cost. In many production fields and circulation fields, loading and unloading and handling have become important in the production process. Components and key support systems, such as the main production process of the extractive industry, is essentially loading, unloading and handling; for example, in the processing industry and the circulation industry, loading and unloading is an indispensable part of the production process. The cost for loading, unloading and handling is 15.5% of the processing cost, and when the transportation process is over, before the goods enter the warehouse, there must be loading and unloading operations.
目前国内外在进行货车装卸作业组织工作时,大多要根据相应的装卸作业条件来选择对应的装卸作业方法,现有装卸作业大致可分为三类:单件作业、集装作业、散装作业。对于单件作业或散装作业,目前仍较多的使用人力、手推车、台车和输送机等作业工具,也有使用笼式托盘(托盘笼)、箱式托盘(托盘箱),对于集装作业更多采用叉车配合使用且针对不同货物需采取不同的装卸设备对于重型货物还需要吊具和起重机,处于人力状态或者半自动化程度。At present, when organizing the loading and unloading operations of trucks at home and abroad, most of them need to select the corresponding loading and unloading operation methods according to the corresponding loading and unloading operation conditions. For single-piece operations or bulk operations, manpower, trolleys, trolleys, conveyors and other work tools are still used, and cage trays (pallet cages) and box trays (pallet boxes) are also used. Forklift trucks are often used together, and different loading and unloading equipment is required for different goods. For heavy goods, spreaders and cranes are also required, which are in a human state or semi-automatic level.
近年来,国内的研究方向主要是开发合理的货车装卸机械例如槽式升降机(车下密封垂直上下式升降机)。此装置采用车下密封式升降机,该类型即可以把升降台折叠在车下面,也可以像滑板一样滑到车身下面,其最大特点是既不会堵塞闸门,又不妨碍装卸作业;例如中国专利文献CN105923417B所公开的箱体类货车自动装、卸货物的机械装置,这种结构因与车身分开,不便于保存,同时在货物码垛的过程中还是需要人力辅助,自动化程度不高。In recent years, the domestic research direction is mainly to develop reasonable truck loading and unloading machinery such as trough lifts (under-vehicle sealed vertical up and down lifts). This device adopts a sealed lift under the car, which can fold the lift table under the car, or slide it under the body like a skateboard. Its biggest feature is that it will neither block the gate nor hinder the loading and unloading operations; Document CN105923417B discloses a mechanical device for automatic loading and unloading of box-type trucks. Since this structure is separated from the body, it is inconvenient to store. At the same time, manual assistance is required in the process of stacking the goods, and the degree of automation is not high.
另外还有像福德机器人这种柔性化自动装车系统,例如中国专利文献CN107618894A所公开的一种柔性化自动装车系统及其应用,这类技术具有高可靠的创新机械结构单元;采用高效能LMS管理控制单元;高性能现场执行控制单元;高适应车辆智能检测单元等技术。通过一机双道实现不间断装车,可全天24小时工作。无需对现有场地进行改造即可部署安装。机头集成吸尘接口,利用已有吸尘系统即可满足使用并且所集成的吸尘功能节能、高效,吸尘风机节能达40%易操作:司机在引导下即可完成操作,整个装车过程自动化程度较高。缺点是该机器人系统只能在工厂中使用,实用范围窄,同时成本高。In addition, there are flexible automatic loading systems such as Ford robots, such as a flexible automatic loading system and its application disclosed in Chinese patent document CN107618894A. This type of technology has highly reliable innovative mechanical structural units; LMS management control unit; high-performance on-site execution control unit; highly adaptable vehicle intelligent detection unit and other technologies. Uninterrupted loading is realized through one machine and two lanes, and it can work 24 hours a day. The installation can be deployed without modification to the existing site. The machine head integrates a vacuum interface, which can be used by using the existing vacuum system. The integrated vacuum function is energy-saving and efficient, and the vacuum fan can save energy by 40%. Easy to operate: the driver can complete the operation under the guidance, and the entire loading The process is highly automated. The disadvantage is that the robot system can only be used in the factory, the practical scope is narrow, and the cost is high.
此外,中国专利文献CN107244278A公开了货车自动装卸车厢,这种结构是在货车厢体底部、大梁之间安装底箱,底箱内沿货车厢体的前后方向设置输送带,输送带套装在前后端的驱动轮上;通过输送带装卸货物,这种结构虽然能够一定程度降低劳动强度,但无法完成货物在货车箱体内摆放的问题,因此也存在适用范围窄。In addition, Chinese patent document CN107244278A discloses the automatic loading and unloading of trucks. In this structure, a bottom box is installed between the bottom of the truck body and the girder, and a conveyor belt is arranged in the bottom box along the front and rear directions of the truck body, and the conveyor belt is sleeved on the front and rear ends. On the driving wheel; loading and unloading the goods through the conveyor belt, although this structure can reduce the labor intensity to a certain extent, but can not complete the problem of placing the goods in the truck box, so there is also a narrow scope of application.
综上所述,针对箱式包装的货物,如何改善运输过程中货车装卸效率,使其自动化高、可靠性强、运行状态稳定成为本领域亟待解决的问题。To sum up, for box-packed goods, how to improve the loading and unloading efficiency of trucks during transportation, so as to have high automation, high reliability, and stable operation status has become an urgent problem to be solved in the art.
发明内容SUMMARY OF THE INVENTION
本发明的目的是提供一种带有自动装载装置用于装卸袋装货物的货车,可以自动运行或者手动操作,且能迅速高效的完成整个装卸过程,并且能够防止货物破损和预防各种事故的发生从而减少人力成本、提高货车装卸速度、效率和自动化程度。The object of the present invention is to provide a truck with an automatic loading device for loading and unloading bagged goods, which can run automatically or manually, and can quickly and efficiently complete the entire loading and unloading process, and can prevent damage to goods and prevent various accidents. This reduces labor costs, improves truck loading and unloading speed, efficiency and automation.
本发明所述带有自动装载装置用于装卸袋装货物的货车,包括车体和设置在车体上的车厢,车厢上还设置有自动装载装置,所述自动装置包括控制装置、第一方向运动机构、第二方向运动机构和第三方向运动机构,第三方向运动机构末端设置有抓取结构;The truck with an automatic loading device for loading and unloading bagged goods according to the present invention includes a vehicle body and a carriage arranged on the vehicle body, and an automatic loading device is also provided on the carriage, and the automatic device includes a control device, a first direction A motion mechanism, a second-direction motion mechanism and a third-direction motion mechanism, and the end of the third-direction motion mechanism is provided with a grabbing structure;
所述第一方向运动机构包括两条并列的直线导轨移动装置,直线导轨移动装置包括第一连接支撑座、第二连接支撑座、传动带、第一滑块、第一电机、第一主动轮、第一从动轮和第一方铝;其中第一方铝位于车厢上方,第一方铝两端分别设置有第一连接支撑座和第二连接支撑座,第一连接支撑座上设置有相互连接的第一电机和第一主动轮,第二连接支撑座上设置有第一从动轮,传动带与第一主动轮和第一从动轮连接;第一滑块与传动带套结。还包括第一滑动导轨,第一滑动导轨位于第一方铝上,且第一滑块与第一滑动导轨滑动连接。The first direction movement mechanism includes two parallel linear guide rail moving devices, and the linear guide rail moving device includes a first connection support base, a second connection support base, a transmission belt, a first slider, a first motor, a first driving wheel, The first driven wheel and the first square aluminum; the first square aluminum is located above the carriage, the two ends of the first square aluminum are respectively provided with a first connection support seat and a second connection support seat, and the first connection support seat is provided with an interconnection support seat The first motor and the first driving wheel are connected, the second connecting support base is provided with a first driven wheel, the transmission belt is connected with the first driving wheel and the first driven wheel; the first sliding block is hooked up with the transmission belt. It also includes a first sliding guide rail, the first sliding guide rail is located on the first square aluminum, and the first sliding block is slidably connected with the first sliding guide rail.
所述第二方向运动机构包括第一滑动架和第二滑动架,还包括水平横梁,水平横梁的两端分别与第一滑动架和第二滑动架套接;第一滑动架包括第二底板、第一光杠、第一丝杠、第二光杠、第二电机座、第二电机和第二联轴器,其中第二底板和第二电机座之间依次设置有第一光杠、第一丝杠、第二光杠,第二电机座上设置有第二电机,第二电机通过第二联轴器与第一丝杠连接;第二底板与第一滑块固定连接。The second direction movement mechanism includes a first sliding frame and a second sliding frame, and also includes a horizontal beam, two ends of the horizontal beam are respectively sleeved with the first sliding frame and the second sliding frame; the first sliding frame includes a second bottom plate , the first smooth bar, the first lead screw, the second smooth bar, the second motor seat, the second motor and the second coupling, wherein the first smooth bar, The first screw rod, the second smooth rod, and the second motor seat are provided with a second motor, the second motor is connected with the first screw rod through a second coupling; the second base plate is fixedly connected with the first sliding block.
所述第三方向运动机构包括设置在水平横梁上的第三滑轨和第三齿条,还包括第三支板、第三电机、第三滑块、第三传动齿轮组,其中第三支板通过第三滑块与第三滑轨连接,第三电机与第三支板固定连接,且第三电机输出端通过第三传动齿轮组与第三齿条连接。The third directional movement mechanism includes a third slide rail and a third rack that are arranged on the horizontal beam, and also includes a third support plate, a third motor, a third slider, and a third transmission gear set, wherein the third support The plate is connected with the third slide rail through the third sliding block, the third motor is fixedly connected with the third support plate, and the output end of the third motor is connected with the third rack through the third transmission gear set.
所述抓取机构包括设置在第三支板上的辅助支架,辅助支架内设置有电动推杆,电动推杆末端连接有第三抓取单元;所述抓取机构包括设置在第三支板上的辅助支架,辅助支架内设置有电动推杆,电动推杆末端连接有第三抓取单元;所述第三抓取单元包括第三连接座,第三连接座连接有第三支撑架,第三支撑架两侧对称设置有第三机械手,第三机械手包括第三驱动端、第三转轴和第三机械臂组件,第三驱动端与第三转轴连接,第三转轴与第三支撑架转动连接,第三转轴与第三机械臂组件固定连接。The grasping mechanism includes an auxiliary bracket arranged on the third support plate, an electric push rod is arranged in the auxiliary bracket, and the end of the electric push rod is connected with a third grasping unit; the grasping mechanism includes an auxiliary bracket arranged on the third support plate. The auxiliary bracket on the upper part of the auxiliary bracket is provided with an electric push rod, and the end of the electric push rod is connected with a third grabbing unit; the third grabbing unit includes a third connecting seat, and the third connecting seat is connected with a third supporting frame, A third manipulator is symmetrically arranged on both sides of the third support frame. The third manipulator includes a third driving end, a third rotating shaft and a third mechanical arm assembly. The third driving end is connected with the third rotating shaft, and the third rotating shaft is connected with the third supporting frame. Rotationally connected, the third rotating shaft is fixedly connected with the third mechanical arm assembly.
本发明所述带有自动装载装置用于装卸袋装货物的货车,在货车箱体上设置第一方向运动机构、第二方向运动机构和第三方向运动机构,以及在第三方向运动机构末端设置有抓取结构,使用时,抓取结构用于抓取货物,通过第一方向运动机构带动货物沿着第一方向移动,通过第二方向运动机构带动货物沿着第二方向移动,第三方向运动机构带动货物沿着第三方向移动,即可轻松实现货物的装卸,提高了装卸效率,并降低了劳动强度,减少人力、物力成本,运行可靠,传动平稳,操作简单方便。The truck with the automatic loading device of the present invention is used for loading and unloading bagged goods. A first direction movement mechanism, a second direction movement mechanism and a third direction movement mechanism are arranged on the box body of the truck, and the end of the third direction movement mechanism is provided A grabbing structure is provided. When in use, the grabbing structure is used to grab the goods. The first direction movement mechanism drives the goods to move along the first direction, and the second direction movement mechanism drives the goods to move along the second direction. The directional movement mechanism drives the goods to move along the third direction, which can easily realize the loading and unloading of goods, improve the loading and unloading efficiency, reduce labor intensity, reduce labor and material costs, reliable operation, stable transmission, and simple and convenient operation.
附图说明Description of drawings
图1为本发明第一视角示意图;1 is a schematic diagram of a first perspective of the present invention;
图2为本发明局部放大示意图;Fig. 2 is the partial enlarged schematic diagram of the present invention;
图3为本发明第一方向运动机构第一视角示意图;3 is a schematic diagram of a first perspective view of the first direction movement mechanism of the present invention;
图4为本发明第一方向运动机构第二视角示意图;4 is a schematic diagram of a second perspective view of the first-direction motion mechanism of the present invention;
图5为本发明第一方向运动机构第三视角示意图;5 is a schematic diagram of a third perspective view of the first-direction motion mechanism of the present invention;
图6为本发明第一方向运动机构部分部件示意图;6 is a schematic diagram of some components of the first direction movement mechanism of the present invention;
图7为本发明第一滑块第一视角示意图;7 is a schematic diagram of a first view angle of the first slider of the present invention;
图8为本发明第一滑块第一视角示意图;8 is a schematic diagram of a first view angle of the first slider of the present invention;
图9为本发明第二连接支撑座第一视角示意图;9 is a schematic diagram of a first perspective view of the second connection support seat of the present invention;
图10为本发明第二连接支撑座第二视角示意图;10 is a schematic diagram of the second connection support base of the present invention from a second perspective;
图11为本发明第二方向运动机构、第三方向运动机构和抓取结构第一视角示意图;FIG. 11 is a schematic diagram of the second-direction movement mechanism, the third-direction movement mechanism and the grasping structure from the first perspective of the present invention;
图12为本发明第二方向运动机构、第三方向运动机构和抓取结构第二视角示意图;12 is a schematic diagram of a second-direction movement mechanism, a third-direction movement mechanism and a grasping structure from a second perspective of the present invention;
图13为本发明第二方向运动机构、第三方向运动机构和抓取结构第三视角示意图;FIG. 13 is a schematic diagram of the second-direction movement mechanism, the third-direction movement mechanism and the grabbing structure of the present invention from a third perspective;
图14为本发明第三方向运动机构部分部件第一视角示意图;14 is a schematic diagram of a first perspective view of some components of the third-directional motion mechanism of the present invention;
图15为本发明第三方向运动机构部分部件第二视角示意图;15 is a schematic diagram of a second perspective view of some components of the third-directional motion mechanism of the present invention;
图16为本发明第三方向运动机构部分部件第三视角示意图;16 is a schematic diagram of a third perspective view of some components of the third-direction motion mechanism of the present invention;
图17为本发明辅助支架第一视角示意图;FIG. 17 is a schematic diagram of a first perspective view of the auxiliary support of the present invention;
图18为本发明辅助支架第二视角示意图;Fig. 18 is a schematic diagram of a second perspective view of the auxiliary support of the present invention;
图19为本发明辅助支架与电动推杆组合第一视角示意图;19 is a schematic diagram of the first perspective view of the combination of an auxiliary bracket and an electric push rod according to the present invention;
图20为本发明转换架单元第一视角示意图;20 is a schematic diagram of a first perspective view of the conversion rack unit of the present invention;
图21为本发明转换架单元第二视角示意图;21 is a schematic diagram of a second perspective view of the conversion rack unit of the present invention;
图22为本发明转换架单元连接抓取单元后第一视角示意图;FIG. 22 is a schematic diagram of a first perspective view after the conversion rack unit of the present invention is connected to the grabbing unit;
图23为本发明转换架单元连接抓取单元后第二视角示意图;23 is a schematic diagram of a second perspective view after the conversion rack unit of the present invention is connected to the grabbing unit;
图24为本发明转换架单元连接抓取单元后第三视角示意图;24 is a schematic diagram of a third perspective view after the conversion rack unit of the present invention is connected to the grab unit;
图25为本发明第一抓取单元第一视角示意图;FIG. 25 is a schematic diagram of a first viewing angle of the first grasping unit of the present invention;
图26为本发明第二抓取单元第一视角示意图;FIG. 26 is a schematic diagram of the second grasping unit of the present invention from a first perspective;
图27为本发明第三抓取单元第一视角示意图;FIG. 27 is a schematic diagram of the third grasping unit of the present invention from a first perspective;
图28为本发明第三抓取单元第二视角示意图;FIG. 28 is a schematic diagram of a second perspective view of the third grasping unit of the present invention;
图29为本发明第三抓取单元第三视角示意图;29 is a schematic diagram of a third view angle of the third grabbing unit of the present invention;
图30为本发明第三抓取单元第四视角示意图;30 is a schematic diagram of a fourth perspective view of the third grasping unit of the present invention;
图31为本发明在实施例中控制装置控制本申请结构装卸货物作业过程图;Fig. 31 is a process diagram of the control device controlling the loading and unloading operation of the structure of the present invention in an embodiment of the present invention;
图32为本发明在实施例中控制装置 PLC外部接线图;Fig. 32 is the external wiring diagram of the control device PLC in the embodiment of the present invention;
图33为本发明在实施例中主电路图,其中X轴电机为第一电机,Y轴电机为第二电机,Z轴电机为第三电机;33 is a main circuit diagram of the present invention in an embodiment, wherein the X-axis motor is the first motor, the Y-axis motor is the second motor, and the Z-axis motor is the third motor;
图34 为本发明在实施例中自动操作模式流程图。FIG. 34 is a flow chart of the automatic operation mode in an embodiment of the present invention.
其中:100第一方向运动机构、101第一连接支撑座、102第二连接支撑座、1021支撑座侧板、1022导向块、103传动带、104第一滑块、1041第一导向槽、105第一电机、106第一主动轮、107第一从动轮、108第一方铝、109第一滑动导轨、200第二方向运动机构、201第二底板、202第一光杠、203第一丝杠、204第二光杠、205第二电机座、206第二电机、207第二联轴器、210第一滑动架、220第二滑动架、230水平横梁、300第三方向运动机构、310第三滑轨、301第三滑块、320第三齿条、330第三支板、331第三电机、332第三传动齿轮组、400抓取结构、410辅助支架、411第三辅助板、412第三侧板、413第三底板、414支架凸起、420电动推杆,430第一抓取单元、431第一连接座、432第一机械手、433双向驱动装置、434夹爪、435护垫、450第二抓取单元、451第二连接座、452第二支撑架、453真空吸盘、470第三抓取单元、471第三连接座、472第三支撑架、480第三机械手、481第三驱动端、482第三转轴、483第三机械臂组件、500转换架单元、501连接支柱、502连接隔板,503摄像头、504驱动气缸、505相机支架、506第一转换器、507第二转换器、800车体、810车厢、820控制装置。Among them: 100 first direction movement mechanism, 101 first connection support seat, 102 second connection support seat, 1021 support seat side plate, 1022 guide block, 103 transmission belt, 104 first slider, 1041 first guide groove, 105 first A motor, 106 first driving wheel, 107 first driven wheel, 108 first square aluminum, 109 first sliding guide rail, 200 second direction movement mechanism, 201 second base plate, 202 first smooth rod, 203 first lead screw , 204 second light bar, 205 second motor seat, 206 second motor, 207 second coupling, 210 first sliding frame, 220 second sliding frame, 230 horizontal beam, 300 third directional movement mechanism, 310 first sliding frame Three slide rails, 301 third slider, 320 third rack, 330 third support plate, 331 third motor, 332 third transmission gear set, 400 grab structure, 410 auxiliary bracket, 411 third auxiliary plate, 412 The third side plate, the 413 third bottom plate, the 414 bracket protrusion, the 420 electric push rod, the 430 the first grasping unit, the 431 the first connecting seat, the 432 the first manipulator, the 433 the two-way drive device, the 434 the clamping jaw, the 435 the pad , 450 second grasping unit, 451 second connecting seat, 452 second supporting frame, 453 vacuum suction cup, 470 third grasping unit, 471 third connecting seat, 472 third supporting frame, 480 third manipulator, 481 first Three drive ends, 482 third shaft, 483 third manipulator assembly, 500 conversion frame unit, 501 connecting strut, 502 connecting baffle, 503 camera, 504 driving cylinder, 505 camera bracket, 506 first converter, 507 second Converter, 800 body, 810 carriage, 820 control device.
具体实施方式Detailed ways
体现本发明特征与优点的典型实施方式将在以下的说明中详细叙述,应理解的是本发明能够在不同的实施方式上具有各种的变化,其皆不脱离本发明的范围,且其中的说明及图示在本质上是当作说明之用,而非用以限制本发明。Typical embodiments embodying the features and advantages of the present invention will be described in detail in the following description. It should be understood that the present invention can have various changes in different embodiments without departing from the scope of the present invention, and wherein The descriptions and drawings are intended to be illustrative in nature and not intended to limit the present invention.
结合图1-图34,本发明所述带有自动装载装置用于装卸袋装货物的货车,包括车体800和设置在车体800上的车厢810,车厢810上还设置有自动装载装置,所述自动装置包括控制装置820、第一方向运动机构100、第二方向运动机构200和第三方向运动机构300,第三方向运动机构300末端设置有抓取结构400;1-34, the truck with an automatic loading device for loading and unloading bagged goods according to the present invention includes a
所述第一方向运动机构100包括两条并列的直线导轨移动装置,直线导轨移动装置包括第一连接支撑座101、第二连接支撑座102、传动带103、第一滑块104、第一电机105、第一主动轮106、第一从动轮107和第一方铝108;其中第一方铝108位于车厢810上方,第一方铝108两端分别设置有第一连接支撑座101和第二连接支撑座102,第一连接支撑座101上设置有相互连接的第一电机105和第一主动轮106,第二连接支撑座102上设置有第一从动轮107,传动带103与第一主动轮106和第一从动轮107连接;第一滑块104与传动带103套结。还包括第一滑动导轨109,第一滑动导轨109位于第一方铝108上,且第一滑块104与第一滑动导轨109滑动连接。The first
所述第二方向运动机构200包括第一滑动架210和第二滑动架220,还包括水平横梁230,水平横梁230的两端分别与第一滑动架210和第二滑动架220套接;第一滑动架210包括第二底板201、第一光杠202、第一丝杠203、第二光杠204、第二电机206座205、第二电机206和第二联轴器207,其中第二底板201和第二电机206座205之间依次设置有第一光杠202、第一丝杠203、第二光杠204,第二电机206座205上设置有第二电机206,第二电机206通过第二联轴器207与第一丝杠203连接。The second
所述第三方向运动机构300包括设置在水平横梁230上的第三滑轨310和第三齿条320,还包括第三支板330、第三电机331、第三滑块301、第三传动齿轮组332,其中第三支板330通过第三滑块301与第三滑轨310连接,第三电机331与第三支板330固定连接,且第三电机331输出端通过第三传动齿轮组332与第三齿条320连接。The third
所述抓取机构包括设置在第三支板330上的辅助支架410,辅助支架410内设置有电动推杆420,电动推杆420末端连接有第三抓取单元470;所述第三抓取单元470包括第三连接座471,第三连接座471连接有第三支撑架472,第三支撑架472两侧对称设置有第三机械手480,第三机械手480包括第三驱动端481、第三转轴482和第三机械臂组件483,第三驱动端481与第三转轴482连接,第三转轴482与第三支撑架472转动连接,第三转轴482与第三机械臂组件483固定连接。The grasping mechanism includes an
本发明中还可包括第一连接单元和第二连接单元,所述第一抓取单元430包括第一连接座431,第一连接座431上设置有两个或两个以上的第一机械手432,第一机械手432包括双向驱动装置433,双向驱动装置433两侧连接有夹爪434,夹爪434上设置有护垫435。The present invention may further include a first connecting unit and a second connecting unit, the
所述第二抓取单元包括第二连接座451,第二连接座451上连接有第二支撑架452,第二支撑架452设置有两个或两个以上的真空吸盘453。The second grabbing unit includes a second connecting
在本实施例中,选择额定载重量为5吨的货车作为基础,其包括车体800和设置在车体800上的车厢810,车体800尺寸为长7.4米,宽2.2米,高为2.2米,车厢810可选择常用货车车厢810结构,也可选择顶上开口的箱体结构,箱体包括两车厢810侧板、底板和前板,后面为箱门图中未显示,车厢810尺寸为长6米、宽2米、高2.5米。车厢810上设置有自动装载装置,其中自动装置包括控制装置820、第一方向运动机构100、第二方向运动机构200和第三方向运动机构300;控制装置820设置在车厢810侧板上,在本实施例中,控制装置820选择PLC控制系统,例如选择三菱PLC编程控制器三菱FX2N-80MR-001等其它配件组装而成的PLC控制系统,以便于对各方向运动机构的运动位置进行准确控制。In this embodiment, a truck with a rated load capacity of 5 tons is selected as the basis, which includes a
第一方向运动机构100控制抓取机构沿着第一方向移动,在本实施例中控制抓取机构沿着X方向即车厢810的长度方向移动,移动范围为0-5.7米;包括两条并列的直线导轨移动装置,直线导轨移动装置分别固定放置车厢810两侧的车厢810侧板上;其中两条直线导轨移动装置的结构相同,仅仅是位置上对称布置,故在本申请文献中仅对一个直线导轨移动装置做介绍。直线导轨移动装置包括第一连接支撑座101、第二连接支撑座102、传动带103、第一滑块104、第一电机105、第一主动轮106、第一从动轮107和第一方铝108;第一方铝108可选择方形铝合金型材,用于支撑和承载作用,第一连接支撑座101与第二连接支撑座102结构类似,位于第一方铝108的两端,并且固定在车厢810侧板上。如图所示,第二连接支撑座102位于车厢810侧板后端,通过两块支撑座侧板1021和一块支撑座盖板组合而言,在第二连接支撑座102的两块支撑座侧板1021之间设置有第一从动轮107,本实施例中第一从动轮107为圆柱直齿结构通过从动齿轮轴与第二连接支撑座102的两块支撑座侧板1021转动连接;支撑座侧板1021上还设置有导向块1022,导向块1022与支撑座侧板1021通过螺栓组件连接,导向块1022可与第一方铝108配合,便于第二连接支撑座102的安装,在本申请中同时设置4个导向块1022,也能进一步提高整体结构的稳定性。第一连接支撑座101位于车厢810侧板的前端,第一连接支撑座101通过螺钉固定设置有第一电机105,并且在第一连接支撑座101的两块支撑座侧板1021之间通过主动齿轮轴转动连接有主动齿轮,且主动齿轮轴与第一电机105的输出端连接,或者第一电机105的输出端与第一主动齿轮连接,通过第一电机105带动第一主动轮106转动。传动带103可选择齿形传动带103,具体带型和节距可参照机械设计手册中同步带主要参数进行选择,或者参照GB/T11616进行选择;本实施例中选择同步带,同步带分别于第一主动轮106和第一从动轮107啮合,且第一方铝108位于传动带103内。第一滑块104套结在传动带103上,随着传动带103的移动而移动,例如第一滑块104上可设置与传动带103齿形相啮合的齿结构,通过传动带103的移动,进而带动第一滑块104的移动;为了便于第一滑块104移动,第一滑块104下方还设置第一导向槽1041,第一导向槽1041与第一滑动导轨109配合,其中第一滑动导轨109设置在第一方铝108上方,第一滑动导轨109可选择常用的直线导轨,例如选择市售GH65HA型产品,其固定在第一方铝108上方,用于引导第一滑块104滑动;通过在第一滑块104上设置第一导向槽1041,以及设置与之配合的第一滑动导轨109,提高了第一滑块104沿着传动带103滑动的稳定性和准确性。The first
本实施例在使用时,第一方铝108固定在车厢810侧板顶部,两端通过设置第一连接支撑座101与第二连接支撑座102,便于第一方向运动机构100各组成部件的安装或拆卸;第一电机105与控制装置820电连接,当控制装置820控制第一电机105运转时,传动带103开始动作,进而带动传动带103上的第一滑块104进行移动,本申请的其它结构安装于第一滑块104上,以此达到通过第一电机105带动本申请结构沿着第一方向移动。When this embodiment is in use, the
在本申请中,由于货车车厢810实际尺寸较大,并且第一方向为本申请装置移动行程最大的方向,因此第一方向运动机构100在本实施例中采用同步带传动作为基础结构,同步带传动是一种特殊的带传动,带的工作面为齿形,带轮边缘也做成相应的齿形,与普通带结构相比同步带结构紧凑,其强力层是由拉伸强度高、伸长小的纤维材料或金属材料组成,可使同步带在传动过程中保持齿形带周节基本不变,且能够与第一主动轮106或第一从动轮107进行相对滑动,同时辅助本申请中的其它配件,达到传动比恒定准确、传动平稳、能缓冲吸震、可在较大的轴间距和多轴间传递动力等效果,且上述第一方向运动机构100不需润滑,成本低、容易维护,且可保证传动同步,传动效率高。In the present application, since the actual size of the
所述第二方向运动机构200控制抓取机构沿着第二方向移动,在本实施例中控制抓取机构沿着Z方向即车厢810的高度方向移动,移动范围为0-1.5米,包括对称设置的第一滑动架210和第二滑动架220,第一滑动架210和第二滑动架220结构相同,仅仅是位置上对称设置,并且均设置在第一方向运动机构100的第一滑块104上方,因此,本申请文献中也仅对其中一个做详细介绍。The second
第二方向运动机构200还包括水平横梁230,水平横梁230在本实施例中可选择箱式结构,即采用多个板焊接而成且呈长方体形状的箱体,以此能够降低第二方向运动机构200的整体重量,提高设备的问题性,降低水平横梁230的运行成本;为了提高强度,以及为第三方向运动机构300提供可靠的基础,确保第三方向运动机构300运行准确,可以在箱式结构内焊接多个加强筋。水平横梁230的两端分别与第一滑动架210和第二滑动架220套接。The second-
第一滑动架210包括第二底板201、第一光杠202、第一丝杠203、第二光杠204、第二电机206座205、第二电机206和第二联轴器207;第二底板201采用板状结构,通过焊接或螺栓连接固定在第一滑块104上;第二电机206座205也采用板状结构,其形状与第二底板201相匹配,但位于第二底板201上方,第二底板201与第二电机206座205之间的距离与第二方向运动机构200的移动范围相对应。在第二底板201和第二电机206座205之间依次设置有第一光杠202、第一丝杠203、第二光杠204,第一光杠202和第二光杠204位于第一丝杠203的两侧,水平横梁230两端对称设置有第一孔、第二孔、第三孔,其中第一孔与第一光杠202配合,第二孔与第一丝杠203配合,第三孔与第三光杠的配合,通过水平横梁230上的孔与光杠和丝杠配合,实现水平横梁230与第一滑动架210和第二滑动架220套接,第一孔和第三孔均为通孔,第二孔内设置有与第一丝杠203配合的丝杠螺母。The first sliding
第二电机206座205上固定设置有第二电机206,第二电机206的输出端通过第二联轴器207与第一丝杠203连接;第二联轴器207用于第二电机206和第一丝杠203间传递动力,可选用本领域技术人员所熟知的联轴器,在此不对其结构作详细介绍。具体实施时,第二电机206与控制装置820连接,通过控制装置820控制第二电机206的正、反转和启动、停止;第二电机206输出动力带动第一丝杠203转动,进而带动水平横梁230沿着第一光杠202和第二光杠204上升或下降,实现控制抓取机构沿着Z方向运动的效果。此外,由于第二底板201固定在第一滑块104上,第一滑块104在第一方向运动机构100中受传动带103的控制进行沿着X方向移动时,也带动本申请第二方向运动机构200整体沿着X方向移动。A
在本申请中通过设置两个光杠,不仅让水平横梁230受力均匀,通过第二方向运动机构200整体结构也受力均匀,重心稳定,运动可靠,提高了使用寿命;并且通过设置两个光杠能够更好的引导水平横梁230的上下移动,提高运动的可靠性。由于第二方向运动范围相对第一方向较小,并且在实际应用时,为了便于货物装卸,需要在第二方向上保持一定时间静止,因此在本申请中第二方向运动机构200选择丝杠传动作为基础。通过丝杠传动,易于控制第一丝杠203上的螺旋升角,实现第二方向运动机构200自锁效果。通过第二方向运动机构200的其它部件与丝杠传动配合,整体结构可达到传动结构简单、加工容易、成本低、传动轴向力大、定位精度高等效果。In the present application, by arranging two light bars, not only the
所述第三方向运动机构300控制抓取机构沿着第三方向移动,在本实施例中控制抓取机构沿着Y方向即车厢810的宽度方向移动,移动范围为0-2米;包括设置在水平横梁230上的第三滑轨310和第三齿条320,还包括第三支板330、第三电机331、第三滑块301、第三传动齿轮组332。在本实施例中,第三齿条320与第三滑轨310均平行布置,且通过螺钉或焊接方式固定设置在水平横梁230上;第三滑轨310也可采用直线导轨,与第一滑轨结构相同,同样的与第三滑轨310配合的第三滑块301也与第一滑块104结构相同,第三滑块301固定在第三支板330上,用以带动第三支板330沿着第三滑轨310移动。第三支板330为板状结构,在第三支板330上通过螺栓结构固定有第三电机331,且第三电机331的输出端通过第三传动齿轮组332与第三齿条320连接,第三传动组可选择常用的齿轮传动结构,固定在第三支板330上,同于第三电机331和第三齿条320间传递动力。The third
在本实施例中,第三电机331与控制装置820连接,通过控制装置820控制第三电机331的正、反转和启动、停止;第三电机331输出动力带动第三传动齿轮组332研制第三齿条320移动,由于第三齿条320固定在水平横梁230上,因此第三电机331输出动力时,带动了整个第三支板330沿着第三齿条320移动,即带动第三支板330沿着水平横梁230移动。In this embodiment, the
在本实施例中,第三方向运动机构300设置于水平横梁230上,能够跟随水平横梁230进行第二方向的运动,设置在水平横梁230上的第三导轨在本申请中不仅起到为第三支板330导向滑动的作用,同时还用于支撑第三支板330,包括支撑第三支板330上的其它部件,为了提高支撑稳定性,以及传动的可靠性,可选择并列设置多条第三导轨,也可选择在统一导轨上设置多个第三滑块301,在本实施例中通过设置两条第三导轨,其两条第三导轨设置在第三齿条320的上下两侧,提高了第三支板330受力均衡性和运动可靠性,第三支板330与每条导轨都通过两个第三滑块301配合,也能进一步提高第三支板330受力均衡性和运动可靠性。In this embodiment, the third
在本实施例中,由于Y方向传动距离适中,为了确保传动精度,本申请中选择齿条传动结构作为基础,同时配合第三运动机构的其它部件,达到了工作平稳,可靠性高,承载力大、传递动力大等效果。In this embodiment, since the transmission distance in the Y direction is moderate, in order to ensure the transmission accuracy, the rack transmission structure is selected as the basis in this application, and at the same time, it cooperates with other components of the third motion mechanism to achieve stable operation, high reliability, and bearing capacity. Large, large transmission power and other effects.
本申请中在第三方向运动机构300上设置有抓取机构,通过上述三个方向的运动机构可带动抓取结构400沿三个方向移动,抓取机构包括设置在第三支板330上的辅助支架410,辅助支架410内设置有电动推杆420,在本实施例中,电动推杆420末端连接有第一抓取单元430。具体而言,辅助支架410包括第三辅助板411,第三辅助板411上一体设置或焊接设置有两个第三侧板412,还包括第三底板413,其中第三底板413、两个第三侧板412和第三辅助板411合围组成一个容纳电动推杆420的空间,为了防止电动推杆420在使用中发生移动,在第三底板413上还设置有支架凸起414,用于限制电动推杆420的移动范围,确保结构的稳定性;第三辅助板411上还设置有连接孔,抓取机构可通过螺栓机构穿过连接孔将第三辅助板411固定在第三支板330上,电动推杆420末端通过法兰或其它连接方式连接有第一抓取单元430;在本申请中,通过设置电动推杆420,能够推动第一抓取单元430沿着Z方向上下移动,相对于第二方向运动机构200,电动推杆420在本申请中用于微调,其调整范围为0-0.15米,相对于第二方向运动机构200,电动推杆420驱动第一抓取单元430的准确度更高,并且避免水平横梁230等其它部件的移动,降低了调整Z方向的运行成本。In the present application, a grabbing mechanism is provided on the third-
为了便于装卸常用纸箱或通过纸箱进行包装的物件,在本实施例中,第一抓取单元430包括第一连接座431,第一连接座431上设置有两个或两个以上的第一机械手432,第一机械手432包括双向驱动装置433,双向驱动装置433两侧连接有夹爪434,夹爪434上设置有护垫435;具体而言,第一连接座431为板状结构,作为第一抓取单元430的基础部件,用于承载第一机械手432,第一连接座431上还设置有第一连接法兰,便于与电动推杆420末端连接,也可以通过其它现有方式将第一连接座431与电动推杆420末端连接。为了便于装卸物件,第一连接座431可设置两个或两个以上的第一机械手432,两个及两个以上的第一机械手432对称设置在第一连接座431上,第一机械手432包括双向驱动装置433,在本实施例中,采用双向驱动气缸504,双向驱动气缸504通过螺栓组件固定在第一连接座431上,双向驱动气缸504的两侧末端连接有夹爪434。双向驱动气缸504通过气动回路与气源连接,由于双向驱动气缸504的驱动部分可采用本领域常规技术,故在此不作详细介绍,通过双向驱动气缸504的动作,实现两侧夹爪434的相向或相背运行,使用时,纸箱或类似物件位于两侧夹爪434之间,当夹爪434相向运动时,实现对物件的夹持,通过前述三个方向的运动机构,带动第一抓取单元430移动到预定位置,然后驱动双向驱动气缸504,使得夹爪434相背运行,实现对物件的放置,如此完成了纸箱或类似物件的装卸。为了提高装卸的可靠度,夹爪434上设置有护垫435,护垫435的材质较夹爪434软,通过设置护垫435,防止夹爪434在夹持过程中对物件的损伤,同时设置护垫435后能够增大与物件的接触面积,夹持力更加均匀,提高了物件夹持的稳定性。In order to facilitate loading and unloading of commonly used cartons or objects packaged by cartons, in this embodiment, the first grasping
在本申请的另一实施例中,为了便于装卸玻璃或其它易碎的物件,或者是装卸纸张等体积大但比重较轻的物件时,电动推杆420末端通过法兰或其它连接方式连接有第二抓取单元450;第二抓取单元包括第二连接座451,第二连接座451上连接有第二支撑架452,第二支撑架452设置有两个或两个以上的真空吸盘453;具体而言,第二连接座451也为板状结构,作为第二抓取单元450的基础部件,第二连接座451上设置有第二连接法兰,便于与电动推杆420末端连接,也可以通过其它现有方式将第二连接座451与电动推杆420末端连接,第二连接座451的另一侧通过焊接或其它方式固定设置连接有第二支撑架452,第二支撑架452为多个型钢焊接而成的钢结构。为了提高第二抓取单元的强度,第二支撑架452还可以选择为凸台钢结构,所述凸台钢结构是指通过方钢或角钢或圆钢等其它型钢焊接呈凸台结构的第二支撑架452,包括第二顶架和第二底架,第二顶架与第二底架之间也通过多个型钢焊接连接,以提高第二支撑架452的稳定性及可靠度,第二顶架与第二连接座451连接,第二底架上通过螺栓结构或其它现有连接方式连接有两个或两个以上的真空吸盘453。In another embodiment of the present application, in order to facilitate the loading and unloading of glass or other fragile objects, or when loading and unloading objects with large volume but light weight such as paper, the end of the
真空吸盘453连接有真空发生器,由于真空吸盘453和真空发生器均可选择现有公开的技术,例如选择DO 25VT型号的真空泵组系统以及连接圆盘式海绵真空吸盘453。具体而言,真空泵组系统在使用时与控制装置820电连接;在装卸玻璃或其它易碎的物件,或者是装卸纸张等体积大但比重较轻的物件时,第二抓取单元450移动到预定位置,通过圆盘式海绵真空吸盘453与物件接触,此时真空泵组系统动作,让海绵真空吸盘453与物件之间形成真空,产生吸附力;然后通过前述三个方向的运动机构,带动第二抓取单元450及吸附的物件移动到预定位置,然后驱动真空泵组系统,圆盘式海绵真空吸盘453与物件之间真空度降低,物件通过自重落入到预定位置,如此完成了玻璃或类似玻璃物件的装卸。为了提高装卸的可靠度,可选择在第二支撑架452上设置多个海绵真空吸盘453,提高抓取过程中物件受力的均匀性,也提高真空吸附的稳定性。The
为了便于装卸袋装物品,例如面粉、化肥、大米等通过袋装运输的物品,这类物品容易因抓取时包装袋受力而发生变化,在本申请的另一实施例中,电动推杆420末端通过法兰或其它连接方式连接有第三抓取单元470;第三抓取单元470包括第三连接座471,第三连接座471连接有第三支撑架472,第三支撑架472两侧对称设置有第三机械手480,第三机械手480包括第三驱动端481、第三转轴482和第三机械臂组件483,第三驱动端481与第三转轴482连接,第三转轴482与第三支撑架472转动连接,第三转轴482与第三机械臂组件483固定连接。In order to facilitate the loading and unloading of bagged items, such as flour, fertilizers, rice and other items that are transported in bags, such items are easily changed due to the force of the bag when grasping. In another embodiment of the present application, the electric push rod The end of 420 is connected with a
在具体实施中,第三抓取单元470可设置为笼型结构的机械手,其中第三连接座471也为板状结构,作为第三抓取单元470的连接部件,第三连接座471上设置有第三连接法兰,便于与电动推杆420末端连接,也可以通过其它现有方式将第三连接座471与电动推杆420末端连接,第三连接座471的另一侧通过焊接或其它方式固定设置连接有第三支撑架472,第三支撑架472可选择板状结构或选择为多个型钢焊接而成的钢结构。In a specific implementation, the
为了提高第三连接单元的强度,如附图所示,第三支撑架472为板状结构,第三连接座471一体设置在第三支撑架472的一侧,在第三支撑架472的另一侧,设置有两个对称的第三机械手480,为了便于第三机械手480与第三支撑架472的连接,在第三支撑架472上还对称焊接有第三左箱体和第三右箱体。通过焊接两个箱体,提高了第三连接单元的整体强度和承载力。第三机械手480包括第三转轴482,第三转轴482可选择与第三左箱体或第三右箱体通过滚动轴承结构转动连接,第三驱动端481可选择普通气缸,通过压缩空气驱动气缸504活塞杆移动,活塞杆末端与第三转轴482连接,第三驱动端481与第三左箱体或第三右箱体也通过转动连接的方式。In order to improve the strength of the third connecting unit, as shown in the drawings, the third supporting
第三连接单元还包括第三机械臂组件483,为了适应抓取袋状包装的物品,本申请中第三机械臂组件483包括第三基板、复数个钉爪,其中钉爪呈L型结构,一端与第三基板固定连接,第三基板两端还固定连接有第三连接板和第四连接板,第三连接板和第四连接板分别与第三转轴482的两端转动连接。在具体使用时,通过压缩空气作为动力源,动力源的控制部分与本申请结构的控制装置820连接,能够同时驱动两个第三驱动端481动作,带动与之对应第三转轴482转动,进而带动两个相对应的第三机械臂组件483形成相向运动与相背运动的过程;当两个相对应的第三机械臂组件483形成相向运动时,实现对袋装货物的抓取,当两个相对应的第三机械臂组件483形成相背运动时,实现对袋装货物的码放。The third connecting unit further includes a third
在本申请的另一实施例中,为了能让货物同时适应于不同货物的装卸;在电动推杆420末端连接有转换架单元500,转换架单元500包括连接支柱501,连接支柱501沿Z方向布置,并与电动推杆420末端形成固定连接,电动推杆420可带动连接支柱501转动。连接支柱501还固定设置有连接隔板502,其中连接隔板502平行于X轴、Y轴组成的XY平面,连接隔板502与连接支柱501垂直,并且沿连接支柱501转动方向均匀设置有三个凸起,每个凸起下方固定设置有驱动气缸504,分别是第一驱动气缸504、第二驱动气缸504和第三驱动气缸504,三个驱动气缸504均与本申请中的控制装置820连接,同时第一驱动气缸504末端通过法兰结构连接有第一抓取单元430,第二驱动气缸504末端通过法兰结构连接有第二抓取单元450,第三驱动气缸504末端通过法兰结构连接有第三抓取单元470,通过设置三个驱动气缸504,可分别对三个抓取单元的运动行程进行微控制,提升了操作的便利性,同时节约了驱动能源。在本结构中通过设置连接隔板502,不仅便于安装各个驱动气缸504,同时设置连接隔板502后还能避免三种抓取单元在使用过程中发生干涉,提高本申请结构的稳定性。In another embodiment of the present application, in order to allow the goods to be adapted to the loading and unloading of different goods at the same time, a
在本申请的另一实施例中,还包括工业摄像头503组件,工业摄像头503组件包括相互连接的相机支架505和第一转换器506,且相机支架505和第一转换器506呈上下结构均套结在连接支柱501上;相机支架505上还设置有摄像头503,摄像头503也与第一转换器506连接,第一转换器506还与控制装置820连接。在具体使用中,通过控制装置820与第一转换器506连接,第一转换器506在控制装置820的控制下,可带动相机支架505沿连接支柱501转动,进而控制摄像头503也可进行360度旋转,从而判断货物是否抓取完毕以及判断机械手是否达到抓取的最佳距离,提高生产效率,也能提高其稳定性,为了提高清晰度,本申请结构中摄像头503可选择康耐施In-Sight 9902L等现有技术中的产品。为了进一步提高抓取单元运动可靠性,连接隔板502可选择与连接支柱501套结,在连接支柱501位于第一转换器506下方与连接隔板502之间还套结有第二转换器507,第二转换器507与连接隔板502连接,且第二转换器507与控制装置820连接。在控制装置820的控制下,第二转换器507用于连接隔板502进行360旋转,从而寻找良好的抓取角度,提高货物抓取的稳定性,其与摄像头503配合使用时,从而保证不漏抓、不错抓,提高抓取货物的效率。In another embodiment of the present application, an
在本申请机构中,控制装置820可以采取多种实现形式,比如继电器控制、单片机控制、PLC控制等各种形式。其中PLC控制具有其他控制方式所不具备的独特优势,如可靠性高、系统设计周期短、通用性能好、实用性能强、硬件配套齐全、编程步骤简单易学、循环扫描的工作方式、重量体积小、能耗低等,而且它还可以取代很多传统的续电器控制电路,以实现逻辑控制、顺序控制,既可以应用于对单台设备的控制,还可以应用于机群控制以及自动化流水线;故在本申请中选择PLC控制系统作为控制装置820的基础。综合容量大小、I/O口模块、电源模块、通信联网能力、特殊功能模块等方面,本申请中控制装置820系统主机采取的PLC型号为三菱FX2N-80MR,电源选择日常生活用电220V。In the organization of the present application, the
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CN116118595A (en) * | 2023-04-17 | 2023-05-16 | 江铃汽车股份有限公司 | Logistics vehicle |
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CN112293119A (en) * | 2020-11-15 | 2021-02-02 | 西北农林科技大学 | An automatic cutting machine for arch shed pillars |
CN112623952A (en) * | 2020-12-03 | 2021-04-09 | 上海江南长兴造船有限责任公司 | Ship craft lifting code sorting and arranging method |
CN114348642A (en) * | 2022-01-14 | 2022-04-15 | 青岛海尔生物医疗科技有限公司 | Gripping device for liquid bags |
CN116118595A (en) * | 2023-04-17 | 2023-05-16 | 江铃汽车股份有限公司 | Logistics vehicle |
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