CN111731174A - A truck with an automatic loading device for loading and unloading bagged goods - Google Patents

Abstract

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

A truck with an automatic loading device for loading and unloading bagged goods

technical field

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.

Background technique

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.

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.

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.

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.

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.

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.

SUMMARY OF THE INVENTION

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.

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;

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.

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.

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.

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.

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.

Description of drawings

1 is a schematic diagram of a first perspective of the present invention;

Fig. 2 is the partial enlarged schematic diagram of the present invention;

3 is a schematic diagram of a first perspective view of the first direction movement mechanism of the present invention;

4 is a schematic diagram of a second perspective view of the first-direction motion mechanism of the present invention;

5 is a schematic diagram of a third perspective view of the first-direction motion mechanism of the present invention;

6 is a schematic diagram of some components of the first direction movement mechanism of the present invention;

7 is a schematic diagram of a first view angle of the first slider of the present invention;

8 is a schematic diagram of a first view angle of the first slider of the present invention;

9 is a schematic diagram of a first perspective view of the second connection support seat of the present invention;

10 is a schematic diagram of the second connection support base of the present invention from a second perspective;

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;

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;

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;

14 is a schematic diagram of a first perspective view of some components of the third-directional motion mechanism of the present invention;

15 is a schematic diagram of a second perspective view of some components of the third-directional motion mechanism of the present invention;

16 is a schematic diagram of a third perspective view of some components of the third-direction motion mechanism of the present invention;

FIG. 17 is a schematic diagram of a first perspective view of the auxiliary support of the present invention;

Fig. 18 is a schematic diagram of a second perspective view of the auxiliary support of the present invention;

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;

20 is a schematic diagram of a first perspective view of the conversion rack unit of the present invention;

21 is a schematic diagram of a second perspective view of the conversion rack unit of the present invention;

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;

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;

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;

FIG. 25 is a schematic diagram of a first viewing angle of the first grasping unit of the present invention;

FIG. 26 is a schematic diagram of the second grasping unit of the present invention from a first perspective;

FIG. 27 is a schematic diagram of the third grasping unit of the present invention from a first perspective;

FIG. 28 is a schematic diagram of a second perspective view of the third grasping unit of the present invention;

29 is a schematic diagram of a third view angle of the third grabbing unit of the present invention;

30 is a schematic diagram of a fourth perspective view of the third grasping unit of the present invention;

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;

Fig. 32 is the external wiring diagram of the control device PLC in the embodiment of the present invention;

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;

FIG. 34 is a flow chart of the automatic operation mode in an embodiment of the present invention.

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.

Detailed ways

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.

1-34, the truck with an automatic loading device for loading and unloading bagged goods according to the present invention includes a vehicle body 800 and a carriage 810 arranged on the vehicle body 800, and an automatic loading device is also provided on the carriage 810. The automatic device includes a control device 820, a first-direction motion mechanism 100, a second-direction motion mechanism 200, and a third-direction motion mechanism 300, and a gripping structure 400 is provided at the end of the third-direction motion mechanism 300;

The first direction movement mechanism 100 includes two parallel linear guide rail moving devices, the linear guide moving device includes a first connection support base 101 , a second connection support base 102 , a transmission belt 103 , a first slider 104 , and a first motor 105 , the first driving wheel 106, the first driven wheel 107 and the first aluminum 108; the first aluminum 108 is located above the carriage 810, and the two ends of the first aluminum 108 are respectively provided with a first connection support 101 and a second connection The support base 102, the first connecting support base 101 is provided with a first motor 105 and a first driving wheel 106 connected to each other, the second connecting support base 102 is provided with a first driven wheel 107, the transmission belt 103 and the first driving wheel 106 It is connected with the first driven wheel 107; the first sliding block 104 is hooked with the transmission belt 103. It also includes a first sliding guide rail 109 , the first sliding guide rail 109 is located on the first square aluminum 108 , and the first sliding block 104 is slidably connected to the first sliding guide rail 109 .

The second direction movement mechanism 200 includes a first sliding frame 210 and a second sliding frame 220, and also includes a horizontal beam 230. The two ends of the horizontal beam 230 are respectively sleeved with the first sliding frame 210 and the second sliding frame 220; A sliding frame 210 includes a second base plate 201, a first smooth rod 202, a first lead screw 203, a second smooth rod 204, a seat 205 for a second motor 206, a second motor 206 and a second coupling 207, wherein the second A first smooth bar 202 , a first lead screw 203 , and a second smooth bar 204 are arranged between the base plate 201 and the seat 205 of the second motor 206 in sequence. The seat 205 of the second motor 206 is provided with a second motor 206 , and the second motor 206 It is connected with the first lead screw 203 through the second coupling 207 .

The third directional motion mechanism 300 includes a third slide rail 310 and a third rack 320 disposed on the horizontal beam 230, and also includes a third support plate 330, a third motor 331, a third slider 301, and a third transmission Gear set 332, wherein the third support plate 330 is connected to the third slide rail 310 through the third slider 301, the third motor 331 is fixedly connected to the third support plate 330, and the output end of the third motor 331 passes through the third transmission gear set 332 is connected to the third rack 320 .

The grasping mechanism includes an auxiliary bracket 410 arranged on the third support plate 330, an electric push rod 420 is arranged in the auxiliary bracket 410, and the end of the electric push rod 420 is connected with a third grasping unit 470; the third grasping The unit 470 includes a third connection seat 471, the third connection seat 471 is connected with a third support frame 472, the third support frame 472 is symmetrically provided with a third manipulator 480 on both sides, and the third manipulator 480 includes a third drive end 481, a third The shaft 482 and the third arm assembly 483 , the third drive end 481 is connected to the third shaft 482 , the third shaft 482 is rotatably connected to the third support frame 472 , and the third shaft 482 is fixedly connected to the third arm assembly 483 .

The present invention may further include a first connecting unit and a second connecting unit, the first grabbing unit 430 includes a first connecting seat 431, and the first connecting seat 431 is provided with two or more first manipulators 432 , the first manipulator 432 includes a bidirectional driving device 433 , two sides of the bidirectional driving device 433 are connected with clamping jaws 434 , and a pad 435 is provided on the clamping jaws 434 .

The second grabbing unit includes a second connecting seat 451 , a second supporting frame 452 is connected to the second connecting seat 451 , and two or more vacuum suction cups 453 are provided on the second supporting frame 452 .

In this embodiment, a truck with a rated load capacity of 5 tons is selected as the basis, which includes a vehicle body 800 and a carriage 810 arranged on the vehicle body 800. The size of the vehicle body 800 is 7.4 meters long, 2.2 meters wide, and 2.2 meters high. Meter, the carriage 810 can choose the common truck carriage 810 structure, or can choose a box structure with an opening on the top. The box body includes two carriages 810 side panels, bottom plates and front panels. The rear is a box door not shown in the figure. It is 6 meters long, 2 meters wide and 2.5 meters high. The carriage 810 is provided with an automatic loading device, wherein the automatic device includes a control device 820, a first-direction motion mechanism 100, a second-direction motion mechanism 200 and a third-direction motion mechanism 300; the control device 820 is arranged on the side plate of the carriage 810, In this embodiment, the control device 820 selects a PLC control system, for example, selects a PLC control system assembled with other accessories such as Mitsubishi PLC programming controller Mitsubishi FX2N-80MR-001, so as to accurately control the motion positions of the motion mechanisms in each direction .

The first direction movement mechanism 100 controls the grasping mechanism to move along the first direction. In this embodiment, the grasping mechanism is controlled to move along the X direction, that is, the length direction of the carriage 810, and the movement range is 0-5.7 meters; including two parallel The linear guide moving devices are respectively fixed and placed on the side panels of the carriage 810 on both sides of the carriage 810; the two linear guide moving devices have the same structure and are only symmetrically arranged in position. A linear guide moving device is introduced. The linear guide rail moving device includes a first connection support base 101 , a second connection support base 102 , a transmission belt 103 , a first slider 104 , a first motor 105 , a first driving wheel 106 , a first driven wheel 107 and a first aluminum 108 ; The first square aluminum 108 can choose a square aluminum alloy profile for support and bearing. The first connection support seat 101 is similar in structure to the second connection support seat 102, located at both ends of the first square aluminum 108, and fixed on the carriage 810 side panel. As shown in the figure, the second connecting support seat 102 is located at the rear end of the side plate of the carriage 810. In terms of the combination of two support seat side plates 1021 and a support seat cover plate, the second connecting support seat 102 is located on the two support seat sides of the second connecting support seat 102. A first driven wheel 107 is arranged between the plates 1021. In this embodiment, the first driven wheel 107 is a cylindrical spur gear structure and is rotatably connected with the two support seat side plates 1021 of the second connection support seat 102 through the driven gear shaft; The seat side plate 1021 is also provided with a guide block 1022. The guide block 1022 and the support seat side plate 1021 are connected by bolt assemblies. The guide block 1022 can cooperate with the first square aluminum 108 to facilitate the installation of the second connection support seat 102. In the application, four guide blocks 1022 are provided at the same time, which can further improve the stability of the overall structure. The first connecting support seat 101 is located at the front end of the side plate of the carriage 810 . The first connecting support seat 101 is fixed with the first motor 105 by screws, and the first motor 105 is installed between the two support seat side plates 1021 of the first connecting support seat 101 through the active The gear shaft is rotatably connected with a driving gear, and the driving gear shaft is connected with the output end of the first motor 105 , or the output end of the first motor 105 is connected with the first driving gear, and the first driving wheel 106 is driven to rotate by the first motor 105 . For the transmission belt 103, a toothed transmission belt 103 can be selected. The specific belt type and pitch can be selected by referring to the main parameters of the timing belt in the mechanical design manual, or by referring to GB/T11616; The driving pulley 106 meshes with the first driven pulley 107 , and the first aluminum 108 is located in the transmission belt 103 . The first slider 104 is hooked on the transmission belt 103 and moves with the movement of the transmission belt 103. For example, the first slider 104 can be provided with a tooth structure that meshes with the toothed shape of the transmission belt 103. The movement of the transmission belt 103 further drives the first slider 104. The movement of the slider 104; in order to facilitate the movement of the first slider 104, a first guide groove 1041 is also provided below the first slider 104, and the first guide groove 1041 cooperates with the first sliding guide rail 109, wherein the first sliding guide rail 109 is provided at Above the first aluminum 108, the first sliding guide 109 can be a commonly used linear guide, such as a commercially available GH65HA product, which is fixed above the first aluminum 108 to guide the first sliding block 104 to slide; A first guide groove 1041 is provided on the slider 104, and a first sliding guide rail 109 is arranged to cooperate with it, so as to improve the stability and accuracy of the sliding of the first slider 104 along the transmission belt 103.

When this embodiment is in use, the first aluminum 108 is fixed on the top of the side panel of the carriage 810 , and the first connecting support seat 101 and the second connecting support seat 102 are provided at both ends to facilitate the installation of the components of the first direction movement mechanism 100 Or disassemble; the first motor 105 is electrically connected to the control device 820, when the control device 820 controls the operation of the first motor 105, the transmission belt 103 starts to move, and then drives the first slider 104 on the transmission belt 103 to move, other structures of the present application It is installed on the first sliding block 104 so as to drive the structure of the present application to move along the first direction through the first motor 105 .

In the present application, since the actual size of the truck compartment 810 is relatively large, and the first direction is the direction in which the moving stroke of the device in the present application is the largest, the first direction movement mechanism 100 adopts a synchronous belt drive as the basic structure in this embodiment. The drive is a special kind of belt drive. The working surface of the belt is toothed, and the edge of the pulley is also made into a corresponding toothed shape. Compared with the ordinary belt structure, the synchronous belt has a compact structure. It is composed of long and small fiber materials or metal materials, so that the synchronous belt can keep the toothed belt circumference basically unchanged during the transmission process, and can relatively slide with the first driving wheel 106 or the first driven wheel 107, and at the same time assist the application The other accessories in the motor can achieve the effects of constant and accurate transmission ratio, stable transmission, buffering and shock absorption, and power transmission between large axis spacing and multi-axis, and the above-mentioned first-direction motion mechanism 100 does not require lubrication, low cost and easy. Maintenance, and can ensure transmission synchronization, high transmission efficiency.

The second direction movement mechanism 200 controls the grasping mechanism to move along the second direction. In this embodiment, the grasping mechanism is controlled to move along the Z direction, that is, the height direction of the carriage 810, and the movement range is 0-1.5 meters, including symmetrical The first sliding frame 210 and the second sliding frame 220 are provided. The first sliding frame 210 and the second sliding frame 220 have the same structure, but are only symmetrically arranged in position, and both are arranged on the first sliding block of the first direction movement mechanism 100. 104, therefore, only one of them is described in detail in this document.

The second-direction movement mechanism 200 further includes a horizontal beam 230. In this embodiment, the horizontal beam 230 can be of a box-type structure, that is, a box body formed by welding a plurality of plates and in the shape of a rectangular parallelepiped, so as to reduce the movement in the second direction. The overall weight of the mechanism 200 improves the problem of equipment and reduces the operating cost of the horizontal beam 230; in order to improve the strength and provide a reliable foundation for the third-directional motion mechanism 300 to ensure the accurate operation of the third-directional motion mechanism 300, it can be stored in the box. Multiple reinforcing ribs are welded in the structure. Two ends of the horizontal beam 230 are respectively sleeved with the first sliding frame 210 and the second sliding frame 220 .

The first sliding frame 210 includes a second base plate 201, a first smooth rod 202, a first lead screw 203, a second smooth rod 204, a second motor 206 seat 205, a second motor 206 and a second coupling 207; the second The bottom plate 201 adopts a plate-like structure and is fixed to the first slider 104 by welding or bolting; , the distance between the second base plate 201 and the seat 205 of the second motor 206 corresponds to the movement range of the second directional movement mechanism 200 . A first smooth rod 202, a first lead screw 203, and a second smooth rod 204 are arranged in sequence between the second base plate 201 and the seat 205 of the second motor 206. The first smooth rod 202 and the second smooth rod 204 are located in the first smooth rod On both sides of the rod 203, the two ends of the horizontal beam 230 are symmetrically provided with a first hole, a second hole and a third hole, wherein the first hole is matched with the first smooth rod 202, the second hole is matched with the first lead screw 203, The matching between the three holes and the third smooth bar, the holes on the horizontal beam 230 are matched with the smooth bar and the lead screw, so that the horizontal beam 230 is sleeved with the first sliding frame 210 and the second sliding frame 220, and the first hole and the third sliding frame 220. The holes are all through holes, and a lead screw nut matched with the first lead screw 203 is arranged in the second hole.

A second motor 206 is fixed on the seat 205 of the second motor 206, and the output end of the second motor 206 is connected to the first lead screw 203 through a second coupling 207; the second coupling 207 is used for the second motor 206 and For power transmission between the first lead screws 203, a coupling well-known to those skilled in the art can be selected, and its structure will not be described in detail here. In specific implementation, the second motor 206 is connected to the control device 820, and the control device 820 controls the forward and reverse rotation, start and stop of the second motor 206; the output power of the second motor 206 drives the first lead screw 203 to rotate, thereby driving the horizontal The beam 230 ascends or descends along the first smooth bar 202 and the second smooth bar 204 to achieve the effect of controlling the movement of the grabbing mechanism along the Z direction. In addition, since the second bottom plate 201 is fixed on the first slider 104, when the first slider 104 is controlled by the transmission belt 103 in the first direction movement mechanism 100 to move along the X direction, it also drives the application to move in the second direction The entire mechanism 200 moves in the X direction.

In the present application, by arranging two light bars, not only the horizontal beam 230 is uniformly stressed, but also the overall structure of the second-direction motion mechanism 200 is uniformly stressed, the center of gravity is stable, the movement is reliable, and the service life is improved; and by arranging two The light bar can better guide the up and down movement of the horizontal beam 230 and improve the reliability of the movement. Since the range of motion in the second direction is smaller than that in the first direction, and in practical applications, in order to facilitate the loading and unloading of goods, it needs to remain stationary in the second direction for a certain period of time, so in the present application, the second direction motion mechanism 200 selects a lead screw drive as basic. Through the lead screw drive, it is easy to control the helix angle of the first lead screw 203, so as to realize the self-locking effect of the second direction movement mechanism 200. By cooperating with other components of the second direction movement mechanism 200 and the screw drive, the overall structure can achieve the effects of simple transmission structure, easy processing, low cost, large transmission axial force, and high positioning accuracy.

The third direction movement mechanism 300 controls the grab mechanism to move along the third direction. In this embodiment, the grab mechanism is controlled to move along the Y direction, that is, the width direction of the carriage 810, and the movement range is 0-2 meters; including setting The third sliding rail 310 and the third rack 320 on the horizontal beam 230 further include a third supporting plate 330 , a third motor 331 , a third sliding block 301 , and a third transmission gear set 332 . In this embodiment, the third rack 320 and the third sliding rail 310 are arranged in parallel, and are fixed on the horizontal beam 230 by screws or welding; The rail structure is the same, and the third sliding block 301 matched with the third sliding rail 310 is also the same as the first sliding block 104. The third sliding block 301 is fixed on the third support plate 330 to drive the third support plate. 330 moves along the third slide rail 310 . The third support plate 330 is a plate-like structure, the third motor 331 is fixed on the third support plate 330 through a bolt structure, and the output end of the third motor 331 is connected to the third rack 320 through the third transmission gear set 332 , The third transmission group can choose a common gear transmission structure, which is fixed on the third support plate 330 to transmit power between the third motor 331 and the third rack 320 .

In this embodiment, the third motor 331 is connected to the control device 820, and the control device 820 controls the forward and reverse rotation, start and stop of the third motor 331; the output power of the third motor 331 drives the third transmission gear set 332 to develop the first The third rack 320 moves. Since the third rack 320 is fixed on the horizontal beam 230, when the third motor 331 outputs power, it drives the entire third support plate 330 to move along the third rack 320, that is, drives the third support The plate 330 moves along the horizontal beam 230 .

In this embodiment, the third directional movement mechanism 300 is arranged on the horizontal beam 230 and can follow the horizontal beam 230 to move in the second direction. The third guide rail arranged on the horizontal beam 230 not only serves as the first The three support plates 330 are used for guiding and sliding, and are also used to support the third support plate 330, including supporting other components on the third support plate 330. In order to improve the stability of the support and the reliability of the transmission, a plurality of strips can be arranged in parallel. For the third guide rail, a plurality of third sliding blocks 301 can also be set on a unified guide rail. In this embodiment, two third guide rails are provided, and the two third guide rails are arranged on the upper and lower sides of the third rack 320 , the force balance and movement reliability of the third support plate 330 are improved. The third support plate 330 is matched with each guide rail through the two third sliders 301, which can further improve the force balance of the third support plate 330. and movement reliability.

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.

In the present application, a grabbing mechanism is provided on the third-direction motion mechanism 300 , and the grabbing mechanism 400 can be driven to move in three directions by the above-mentioned three-direction motion mechanism. The auxiliary bracket 410 is provided with an electric push rod 420 in the auxiliary bracket 410 . In this embodiment, the end of the electric push rod 420 is connected with a first grab unit 430 . Specifically, the auxiliary bracket 410 includes a third auxiliary plate 411 on which two third side plates 412 are integrally provided or welded, and also includes a third bottom plate 413, wherein the third bottom plate 413, the two third The three side plates 412 and the third auxiliary plate 411 enclose a space for accommodating the electric push rod 420. In order to prevent the electric push rod 420 from moving during use, a bracket protrusion 414 is also provided on the third bottom plate 413 to limit the movement of the electric push rod 420. The movement range of the electric push rod 420 ensures the stability of the structure; the third auxiliary plate 411 is also provided with a connecting hole, and the grabbing mechanism can pass the bolt mechanism through the connecting hole to fix the third auxiliary plate 411 on the third supporting plate 330 On the upper side, the end of the electric push rod 420 is connected with the first grasping unit 430 through a flange or other connection; Relative to the second direction movement mechanism 200 , the electric push rod 420 is used for fine adjustment in this application, and its adjustment range is 0-0.15 meters. Relative to the second direction movement mechanism 200 , the electric push rod 420 drives the first grab unit 430 The accuracy is higher, and the movement of other components such as the horizontal beam 230 is avoided, thereby reducing the running cost of adjusting the Z direction.

In order to facilitate loading and unloading of commonly used cartons or objects packaged by cartons, in this embodiment, the first grasping unit 430 includes a first connecting seat 431, and two or more first manipulators are disposed on the first connecting seat 431 432, the first manipulator 432 includes a two-way drive device 433, the two sides of the two-way drive device 433 are connected with clamping jaws 434, and the clamping jaws 434 are provided with pads 435; A basic part of the grabbing unit 430 is used to carry the first manipulator 432. The first connecting seat 431 is also provided with a first connecting flange, which is convenient for connecting with the end of the electric push rod 420. A connecting seat 431 is connected to the end of the electric push rod 420 . In order to facilitate the loading and unloading of objects, the first connecting base 431 can be provided with two or more first manipulators 432, and the two or more first manipulators 432 are symmetrically arranged on the first connecting base 431. The first manipulator 432 includes The bidirectional driving device 433, in this embodiment, adopts the bidirectional driving cylinder 504, the bidirectional driving cylinder 504 is fixed on the first connecting seat 431 by the bolt assembly, and the two ends of the bidirectional driving cylinder 504 are connected with the clamping jaws 434. The bidirectional driving cylinder 504 is connected to the air source through a pneumatic circuit. Since the driving part of the bidirectional driving cylinder 504 can adopt the conventional technology in the field, it will not be described in detail here. Or run in the opposite direction. When in use, the carton or similar object is located between the clamping jaws 434 on both sides. When the clamping jaws 434 move toward each other, the clamping of the object is realized. The unit 430 moves to a predetermined position, and then drives the bidirectional driving cylinder 504, so that the jaws 434 run opposite to each other to realize the placement of the object, thus completing the loading and unloading of the carton or the like. In order to improve the reliability of loading and unloading, the clamping jaw 434 is provided with a protective pad 435, and the material of the protective pad 435 is softer than that of the clamping jaw 434. After the protective pad 435 can increase the contact area with the object, the clamping force is more uniform, and the stability of the object clamping is improved.

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 electric push rod 420 is connected with a flange or other connection means. The second grabbing unit 450; the second grabbing unit includes a second connecting seat 451, the second connecting seat 451 is connected with a second supporting frame 452, and the second supporting frame 452 is provided with two or more vacuum suction cups 453 Specifically, the second connecting seat 451 is also a plate-like structure, as the basic component of the second grabbing unit 450, the second connecting seat 451 is provided with a second connecting flange, which is convenient for connecting with the end of the electric push rod 420, The second connection seat 451 can also be connected to the end of the electric push rod 420 by other existing methods, and the other side of the second connection seat 451 is fixedly connected with the second support frame 452 by welding or other methods. The second support frame 452 A steel structure welded by a plurality of steel sections. In order to improve the strength of the second grabbing unit, the second support frame 452 can also be selected as a boss steel structure. The two support frames 452 include a second top frame and a second bottom frame. The second top frame and the second bottom frame are also connected by a plurality of steel sections by welding to improve the stability and reliability of the second support frame 452. The two top frames are connected to the second connection base 451 , and two or more vacuum suction cups 453 are connected to the second base frame through a bolt structure or other existing connection methods.

The vacuum suction cup 453 is connected with a vacuum generator, since both the vacuum suction cup 453 and the vacuum generator can be selected from existing disclosed technologies, for example, a DO 25VT model vacuum pump set system and a disc type sponge vacuum suction cup 453 are selected. Specifically, the vacuum pump set system is electrically connected to the control device 820 when in use; when loading and unloading glass or other fragile objects, or loading and unloading objects with a large volume but light weight such as paper, the second grabbing unit 450 moves to At the predetermined position, the disc-type sponge vacuum suction cup 453 contacts the object. At this time, the vacuum pump system operates to form a vacuum between the sponge vacuum suction cup 453 and the object to generate adsorption force; 2. The grabbing unit 450 and the object to be adsorbed move to a predetermined position, and then drive the vacuum pump system, the vacuum degree between the disc sponge vacuum suction cup 453 and the object is reduced, and the object falls to the predetermined position by its own weight, thus completing the glass or the like Handling of glass objects. In order to improve the reliability of loading and unloading, a plurality of sponge vacuum suction cups 453 can be optionally arranged on the second support frame 452 to improve the uniformity of the force on the object during the grasping process, and also improve the stability of vacuum adsorption.

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 third grabbing unit 470 through a flange or other connection; A third manipulator 480 is provided laterally symmetrically. The third manipulator 480 includes a third drive end 481, a third shaft 482 and a third manipulator assembly 483. The third drive end 481 is connected to the third shaft 482, and the third shaft 482 is connected to the third shaft 482. The three support frames 472 are rotatably connected, and the third rotating shaft 482 is fixedly connected with the third mechanical arm assembly 483 .

In a specific implementation, the third grabbing unit 470 can be configured as a manipulator with a cage structure, wherein the third connecting seat 471 is also a plate-like structure. As the connecting component of the third grabbing unit 470, the third connecting seat 471 is provided There is a third connection flange, which is convenient to connect with the end of the electric push rod 420. The third connection seat 471 can also be connected to the end of the electric push rod 420 by other existing methods. The other side of the third connection seat 471 is welded or other A third support frame 472 is fixed and connected in a fixed manner, and the third support frame 472 can be selected as a plate-like structure or as a steel structure formed by welding a plurality of section steels.

In order to improve the strength of the third connecting unit, as shown in the drawings, the third supporting frame 472 is a plate-like structure, and the third connecting seat 471 is integrally provided on one side of the third supporting frame 472, and on the other side of the third supporting frame 472. On one side, two symmetrical third manipulators 480 are arranged. In order to facilitate the connection between the third manipulator 480 and the third support frame 472, a third left box body and a third right box are also symmetrically welded on the third support frame 472. body. By welding the two boxes, the overall strength and bearing capacity of the third connection unit are improved. The third manipulator 480 includes a third rotating shaft 482. The third rotating shaft 482 can optionally be rotatably connected to the third left box body or the third right box body through a rolling bearing structure. The third driving end 481 can be selected from a common cylinder, and the cylinder 504 can be driven by compressed air. The piston rod moves, the end of the piston rod is connected with the third rotating shaft 482, and the third driving end 481 and the third left box body or the third right box body are also connected by rotation.

The third connecting unit further includes a third robotic arm assembly 483. In order to adapt to grasping the bag-shaped packaged items, the third robotic arm assembly 483 in this application includes a third base plate and a plurality of nail claws, wherein the nail claw has an L-shaped structure, One end is fixedly connected with the third base plate, and both ends of the third base plate are also fixedly connected with a third connecting plate and a fourth connecting plate, which are respectively connected to both ends of the third rotating shaft 482 for rotation. In specific use, the compressed air is used as the power source, and the control part of the power source is connected to the control device 820 of the structure of the present application, which can simultaneously drive the two third driving ends 481 to act, and drive the corresponding third rotating shaft 482 to rotate, and then The process of driving the two corresponding third robot arm assemblies 483 to form opposite movement and opposite movement; when the two corresponding third robot arm assemblies 483 form opposite movement, the grabbing of the bagged goods is realized. When the corresponding third robotic arm assemblies 483 move in opposite directions, the bagged goods can be stacked.

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 conversion rack unit 500 is connected to the end of the electric push rod 420, and the conversion rack unit 500 includes a connecting column 501, and the connecting column 501 is along the Z direction. The electric push rod 420 is arranged to form a fixed connection with the end of the electric push rod 420, and the electric push rod 420 can drive the connecting strut 501 to rotate. The connecting strut 501 is also fixedly provided with a connecting baffle 502, wherein the connecting baffle 502 is parallel to the XY plane composed of the X axis and the Y axis, the connecting baffle 502 is perpendicular to the connecting strut 501, and three are evenly arranged along the rotation direction of the connecting strut 501. Protrusions, and driving cylinders 504 are fixedly arranged below each protrusion, which are respectively a first driving cylinder 504, a second driving cylinder 504 and a third driving cylinder 504, and the three driving cylinders 504 are all connected with the control device 820 in this application. At the same time, the end of the first driving cylinder 504 is connected to the first grasping unit 430 through the flange structure, the end of the second driving cylinder 504 is connected to the second grasping unit 450 through the flange structure, and the end of the third driving cylinder 504 is connected to the flange structure. A third grabbing unit 470 is connected, and by arranging three driving cylinders 504, the movement strokes of the three grabbing units can be individually micro-controlled, which improves the convenience of operation and saves driving energy. In this structure, by setting the connecting baffles 502, it is not only convenient to install each driving cylinder 504, but also can avoid the interference of the three grasping units during use, and improve the stability of the structure of the present application.

In another embodiment of the present application, an industrial camera 503 component is further included, and the industrial camera 503 component includes a camera bracket 505 and a first converter 506 that are connected to each other, and the camera bracket 505 and the first converter 506 are in an upper and lower structure. The camera bracket 505 is also provided with a camera 503 , the camera 503 is also connected with the first converter 506 , and the first converter 506 is also connected with the control device 820 . In specific use, the control device 820 is connected to the first converter 506. Under the control of the control device 820, the first converter 506 can drive the camera bracket 505 to rotate along the connecting column 501, thereby controlling the camera 503 to rotate 360 degrees. Rotation, so as to judge whether the goods have been grasped and whether the manipulator has reached the optimal distance for grasping, which can improve production efficiency and improve its stability. Products in the prior art such as Sight 9902L. In order to further improve the movement reliability of the grabbing unit, the connecting baffle 502 can optionally be nested with the connecting strut 501, and between the connecting strut 501 located under the first converter 506 and the connecting baffle 502 is also nested with a second converter 507 , the second converter 507 is connected to the connecting baffle 502 , and the second converter 507 is connected to the control device 820 . Under the control of the control device 820, the second converter 507 is used to connect the baffle 502 for 360 rotation, so as to find a good grasping angle and improve the stability of grasping the goods. When it is used in conjunction with the camera 503, it ensures no Missing catch, good catch, improve the efficiency of grabbing goods.

In the organization of the present application, the control device 820 can take various implementation forms, such as various forms such as relay control, single-chip control, and PLC control. Among them, PLC control has unique advantages that other control methods do not have, such as high reliability, short system design cycle, good general performance, strong practical performance, complete hardware support, simple and easy programming steps to learn, cyclic scanning working mode, small weight and volume , low energy consumption, etc., and it can also replace many traditional relay control circuits to realize logic control and sequence control, which can be applied to the control of a single device, and can also be applied to cluster control and automated assembly lines; In this application, a PLC control system is selected as the basis for the control device 820 . In terms of comprehensive capacity, I/O port modules, power modules, communication networking capabilities, special function modules, etc., the PLC model adopted by the host of the control device 820 system in this application is Mitsubishi FX2N-80MR, and the power source is 220V for daily life.

Claims (3)

1. A truck with an automatic loading device for loading and unloading bagged goods, characterized in that it comprises a vehicle body (800) and a carriage (810) arranged on the vehicle body (800), and the carriage (810) is further provided with There is an automatic loading device, and the automatic loading device includes a control device (820), a first direction movement mechanism (100), a second direction movement mechanism (200) and a third direction movement mechanism (300), and the third direction movement mechanism ( 300) The end is provided with a grabbing structure (400); The first direction movement mechanism (100) comprises two parallel linear guide rail moving devices, and the linear guide rail moving device comprises a first connection support base (101), a second connection support base (102), a transmission belt (103), a first connection support base (102), a The slider (104), the first motor (105), the first driving wheel (106), the first driven wheel (107) and the first aluminum (108); wherein the first aluminum (108) is located in the carriage (810) Above, both ends of the first square aluminum (108) are respectively provided with a first connection support seat (101) and a second connection support seat (102), and the first connection support seat (101) is provided with a first motor ( 105) and the first driving wheel (106), the second connecting support base (102) is provided with a first driven wheel (107), the transmission belt (103) and the first driving wheel (106) and the first driven wheel (107) connection; the first slider (104) is hooked with the transmission belt (103); Also includes a first sliding guide rail (109), the first sliding guide rail (109) is located on the first square aluminum (108), and the first sliding block (104) is slidably connected to the first sliding guide rail (109); The second direction movement mechanism (200) includes a first sliding frame (210) and a second sliding frame (220), and also includes a horizontal beam (230), two ends of the horizontal beam (230) are respectively connected to the first sliding frame (220). 210) is sleeved with the second sliding frame (220); the first sliding frame (210) includes a second base plate (201), a first smooth rod (202), a first lead screw (203), and a second smooth rod (204) ), the second motor (206) seat (205), the second motor (206) and the second coupling (207), wherein the second bottom plate (201) and the second motor (206) seat (205) are in sequence A first smooth bar (202), a first lead screw (203), and a second smooth bar (204) are provided, a second motor (206) is provided on the seat (205) of the second motor (206), and the second motor ( 206) is connected with the first lead screw (203) through the second coupling (207); The third directional movement mechanism (300) includes a third slide rail (310) and a third rack (320) arranged on the horizontal beam (230), and further includes a third support plate (330), a third motor ( 331), a third sliding block (301), and a third transmission gear set (332), wherein the third support plate (330) is connected with the third sliding rail (310) through the third sliding block (301), and the third motor ( 331) is fixedly connected with the third support plate (330), and the output end of the third motor (331) is connected with the third rack (320) through the third transmission gear set (332); The grabbing mechanism includes an auxiliary bracket (410) arranged on the third support plate (330), an electric push rod (420) is arranged in the auxiliary bracket (410), and the end of the electric push rod (420) is connected with a third grabber A taking unit (470); the third grabbing unit (470) includes a third connection seat (471), the third connection seat (471) is connected with a third support frame (472), and the third support frame (472) has two A third manipulator (480) is arranged symmetrically on the side. The third manipulator (480) includes a third driving end (481), a third rotating shaft (482) and a third manipulator assembly (483). The third driving end (481) is connected to The third rotating shaft (482) is connected, the third rotating shaft (482) is rotatably connected with the third support frame (472), and the third rotating shaft (482) is fixedly connected with the third mechanical arm assembly (483). 2. The truck with an automatic loading device for loading and unloading bagged goods according to claim 1, wherein two or more of the third sliders (301) are provided. 3. The truck with an automatic loading device for loading and unloading bagged goods according to claim 1, wherein two or more of the third sliding rails (310) are provided.

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