CN111731174A - Truck with automatic loading device for loading and unloading bagged goods - Google Patents

Abstract

The loading and unloading speed, efficiency and automation degree of the truck for the bagged goods are improved. The truck with the automatic loading device for loading and unloading bagged goods comprises a truck body and a carriage arranged on the truck body, wherein the carriage is also provided with the automatic loading device, the automatic loading device comprises a control device, a first direction movement mechanism, a second direction movement mechanism and a third direction movement mechanism, and the tail end of the third direction movement mechanism is provided with a grabbing structure. When the goods handling device is used, the grabbing structure is used for grabbing goods, the goods are driven to move along the first direction through the first direction moving mechanism, the goods are driven to move along the second direction through the second direction moving mechanism, and the goods are driven to move along the third direction through the third direction moving mechanism, so that the goods can be easily handled, the handling efficiency is improved, and the labor intensity is reduced.

Description

Truck with 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

With the development of online shopping and logistics industries, intellectualization has been integrated into various aspects of life, and people are pursuing better and more efficient logistics services. The truck is used as an important tool for transporting boxed goods, has a very important influence on online shopping and logistics service, for example, before and after each stage of logistics or between different activities in the same stage, loading, unloading and carrying operations are required, generally, goods subjected to combined transportation are subjected to loading, unloading, carrying and reloading more than 4 times (more than ten times), the cost of the goods is about 25% of the transportation cost, and in many production fields and circulation fields, the loading, unloading and carrying become an important component and a key guarantee system of the production process, such as the main production process of mining industry, and are actually the loading, unloading and carrying; in the processing industry and the circulation industry, loading, unloading and carrying are indispensable components in the production process, according to survey data, the cost of the machinery industry in China for loading, unloading and carrying is 15.5% of the processing cost, and when the transportation process is finished, the goods need to be loaded, unloaded and carried before entering a warehouse.

At present, when the cargo loading and unloading operation organization work of a truck is carried out at home and abroad, corresponding loading and unloading operation methods are mostly selected according to corresponding loading and unloading operation conditions, and the existing loading and unloading operation can be roughly divided into three types: single-piece operation, container loading operation and bulk loading operation. For single-piece operation or bulk operation, still more at present use working tools such as manpower, handcart, platform truck and conveyer, also use cage tray (tray cage), box tray (tray case), still adopt fork truck cooperation to use more to containerized operation and need to take different handling equipment to heavy goods and still need hoist and hoist to different goods, be in manpower attitude or semi-automatization degree.

In recent years, domestic research has been directed primarily to the development of rational truck-handling machinery such as a trough elevator (under-car seal vertical up-down). The device adopts a sealed lifter under the vehicle, the type can fold the lifting platform under the vehicle and can slide under the vehicle body like a sliding plate, and the device has the biggest characteristic that the device does not block a gate and does not hinder loading and unloading operation; for example, the mechanical device for automatically loading and unloading goods in a box type truck disclosed in chinese patent document CN105923417B is not easy to store because of being separated from the truck body, and also needs manpower assistance in the process of stacking goods, and the degree of automation is not high.

In addition, there is a flexible automatic loading system like a ford robot, for example, a flexible automatic loading system disclosed in chinese patent document CN107618894A and its application, such a technology has a highly reliable innovative mechanical structure unit; a high-efficiency LMS management control unit is adopted; a high performance field execution control unit; high-adaptability vehicle intelligent detection unit and the like. Uninterrupted loading is realized through one machine and two ways, and 24 hours of work can be performed all day. The installation can be deployed without modifying the existing site. The integrated dust absorption interface of aircraft nose utilizes existing dust collecting system can satisfy the use and the dust absorption function of integration is energy-conserving, high-efficient, and the dust absorption fan energy-conservation reaches 40% easy operation: the driver can accomplish the operation under the guide, and whole loading process automation degree is higher. The robot system has the disadvantages of narrow practical range and high cost, and can only be used in factories.

In addition, chinese patent document CN107244278A discloses an automatic loading and unloading wagon, which is a structure that a bottom box is installed between the bottom of a wagon box body and a girder, a conveyor belt is arranged in the bottom box along the front-rear direction of the wagon box body, and the conveyor belt is sleeved on driving wheels at the front and rear ends; through conveyer belt loading and unloading goods, this kind of structure though can reduce intensity of labour to a certain extent, can't accomplish the problem that the goods was put in the railway carriage box, consequently also has application scope narrowly.

In summary, how to improve the loading and unloading efficiency of a truck in the transportation process for boxed goods becomes a problem to be solved in the field with high automation, strong reliability and stable running state.

Disclosure of Invention

The invention aims to provide a truck with an automatic loading device for loading and unloading bagged goods, which can automatically operate or manually operate, can quickly and efficiently complete the whole loading and unloading process, can prevent goods from being damaged and various accidents from happening, thereby reducing the labor cost, and improving the loading and unloading speed, efficiency and automation degree of the truck.

The truck with the automatic loading device for loading and unloading bagged goods comprises a truck body and a carriage arranged on the truck body, wherein the carriage is also provided with the automatic loading device, the automatic loading device comprises a control device, a first direction movement mechanism, a second direction movement mechanism and a third direction movement mechanism, and the tail end of the third direction movement mechanism is provided with a grabbing structure;

the first direction movement mechanism comprises two parallel linear guide rail moving devices, and each linear guide rail moving device comprises a first connecting support seat, a second connecting support seat, a transmission belt, a first sliding block, a first motor, a first driving wheel, a first driven wheel and first square aluminum; the first square aluminum is positioned above the carriage, a first connecting support seat and a second connecting support seat are respectively arranged at two ends of the first square aluminum, a first motor and a first driving wheel which are connected with each other are arranged on the first connecting support seat, a first driven wheel is arranged on the second connecting support seat, and the transmission belt is connected with the first driving wheel and the first driven wheel; the first slide block is sleeved with the transmission belt. Still include first sliding guide, first sliding guide is located first side aluminium, and first slider and first sliding guide sliding connection.

The second direction movement mechanism comprises a first sliding frame, a second sliding frame and a horizontal cross beam, and two ends of the horizontal cross beam are respectively sleeved with the first sliding frame and the second sliding frame; the first sliding frame comprises a second bottom plate, a first feed screw, a second motor base, a second motor and a second coupler, wherein the first feed screw, the first feed screw and the second feed screw are sequentially arranged between the second bottom plate and the second motor base; the second bottom plate is fixedly connected with the first sliding block.

The third direction movement mechanism comprises a third slide rail and a third rack which are arranged on the horizontal cross beam, and further comprises a third support plate, a third motor, a third slide block and a third transmission gear set, wherein the third support plate is connected with the third slide rail through the third slide 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 grabbing mechanism comprises an auxiliary support arranged on the third support plate, an electric push rod is arranged in the auxiliary support, and the tail end of the electric push rod is connected with a third grabbing unit; the grabbing mechanism comprises an auxiliary support arranged on the third support plate, an electric push rod is arranged in the auxiliary support, and the tail end of the electric push rod is connected with a third grabbing unit; the third grabbing unit comprises a third connecting seat, the third connecting seat is connected with a third supporting frame, third mechanical arms are symmetrically arranged on two sides of the third supporting frame, the third mechanical arms comprise third driving ends, third rotating shafts and third mechanical arm assemblies, the third driving ends are connected with the third rotating shafts, the third rotating shafts are rotatably connected with the third supporting frame, and the third rotating shafts are fixedly connected with the third mechanical arm assemblies.

When the truck with the automatic loading device is used, the first direction movement mechanism, the second direction movement mechanism and the third direction movement mechanism are arranged on the truck body, and the grabbing structure is arranged at the tail end of the third direction movement mechanism.

Drawings

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

FIG. 2 is an enlarged partial schematic view of the present invention;

FIG. 3 is a first perspective view of the first direction movement mechanism of the present invention;

FIG. 4 is a schematic diagram of a second perspective of the first direction movement mechanism of the present invention;

FIG. 5 is a third perspective view of the first direction moving mechanism of the present invention;

FIG. 6 is a schematic view of a portion of the components of the first direction movement mechanism of the present invention;

FIG. 7 is a first perspective view of the first slider according to the present invention;

FIG. 8 is a first perspective view of the first slider of the present invention;

FIG. 9 is a first perspective view of a second connecting support seat according to the present invention;

FIG. 10 is a second perspective view of the second connecting support base according to the present invention;

FIG. 11 is a schematic view of a first perspective of the second directional motion mechanism, the third directional motion mechanism, and the grasping configuration of the present invention;

FIG. 12 is a second perspective view of the second direction movement mechanism, the third direction movement mechanism and the grasping configuration of the present invention;

FIG. 13 is a third perspective view of the second directional motion mechanism, the third directional motion mechanism, and the grasping configuration of the present invention;

FIG. 14 is a schematic view of a portion of the third direction movement mechanism of the present invention from a first perspective;

FIG. 15 is a second perspective view of a portion of the third motion mechanism of the present invention;

FIG. 16 is a third perspective view of a portion of the third direction movement mechanism of the present invention;

FIG. 17 is a schematic view of a first perspective of an auxiliary stand according to the present invention;

FIG. 18 is a schematic view of an auxiliary stand according to the present invention from a second perspective;

FIG. 19 is a schematic view of a first perspective of the combination of the auxiliary stand and the electric putter of the present invention;

FIG. 20 is a first perspective view of the switching frame unit of the present invention;

FIG. 21 is a second perspective view of the switching frame unit of the present invention;

FIG. 22 is a schematic view of a first perspective of the transfer frame unit after the transfer frame unit is connected to the capture unit;

FIG. 23 is a schematic view of a second perspective of the transfer frame unit after the transfer frame unit is connected to the capture unit;

FIG. 24 is a third perspective view of the transfer frame unit coupled to the capture unit of the present invention;

FIG. 25 is a schematic view of a first view of the first grasping unit according to the present invention;

FIG. 26 is a schematic view of a first perspective of a second gripper unit according to the present invention;

FIG. 27 is a schematic view of a third grasping unit according to the first embodiment of the present invention;

FIG. 28 is a schematic view of a third grasping unit according to the second embodiment of the present invention;

FIG. 29 is a third perspective view of a third grasping unit according to the present invention;

FIG. 30 is a fourth perspective view of the third grasping unit according to the present invention;

FIG. 31 is a diagram illustrating a process of controlling the structure of the present application to load and unload cargo according to an embodiment of the present invention;

FIG. 32 is a PLC external wiring diagram of the control device according to the embodiment of the present invention;

FIG. 33 is a main circuit diagram of an embodiment of the present invention, wherein the X-axis motor is a first motor, the Y-axis motor is a second motor, and the Z-axis motor is a third motor;

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

Wherein: 100 a first direction movement mechanism, 101 a first connection support seat, 102 a second connection support seat, 1021 a support seat side plate, 1022 a guide block, 103 a transmission belt, 104 a first slide block, 1041 a first guide groove, 105 a first motor, 106 a first driving wheel, 107 a first driven wheel, 108 a first square aluminum, 109 a first sliding guide rail, 200 a second direction movement mechanism, 201 a second bottom plate, 202 a first optical lever, 203 a first lead screw, 204 a second optical lever, 205 a second motor seat, 206 a second motor, 207 a second coupling, 210 a first sliding frame, 220 a second sliding frame, 230 a horizontal beam, 300 a third direction movement mechanism, 310 a third sliding frame, 301 a third slide block, 320 a third rack, 330 a third support plate, 331 a third motor, 332 a third transmission gear set, 400 a grabbing structure, 410 an auxiliary support, 411 a third auxiliary plate, 412 a third side plate 413, 412 a third bottom plate, 414 a support projection, 420 an electric push rod, 430 first grabbing unit, 431 first connecting seat, 432 first manipulator, 433 bidirectional driving device, 434 clamping jaw, 435 protection pad, 450 second grabbing unit, 451 second connecting seat, 452 second supporting frame, 453 vacuum suction cup, 470 third grabbing unit, 471 third connecting seat, 472 third supporting frame, 480 third manipulator, 481 third driving end, 482 third rotating shaft, 483 third mechanical arm assembly, 500 conversion frame unit, 501 connecting support, 502 connecting partition plate, 503 camera, 504 driving cylinder, 505 camera support, 506 first converter, 507 second converter, 800 vehicle body, 810 carriage, 820 control device.

Detailed Description

While the following description details certain exemplary embodiments which embody features and advantages of the invention, it will be understood that various changes may be made in the embodiments without departing from the scope of the invention, and that the description and drawings are to be regarded as illustrative in nature and not as restrictive.

With reference to fig. 1 to 34, the truck with an automatic loading device for loading and unloading bagged goods according to the present invention includes a body 800 and a compartment 810 disposed on the body 800, the compartment 810 is further provided with an automatic loading device, the automatic loading device includes a control device 820, a first direction moving mechanism 100, a second direction moving mechanism 200 and a third direction moving mechanism 300, and a grabbing structure 400 is disposed at an end of the third direction moving mechanism 300;

the first direction movement mechanism 100 comprises two parallel linear guide rail moving devices, and each linear guide rail moving device comprises a first connecting support seat 101, a second connecting support seat 102, a transmission belt 103, a first sliding block 104, a first motor 105, a first driving wheel 106, a first driven wheel 107 and first square aluminum 108; the first square aluminum 108 is positioned above the carriage 810, a first connecting support seat 101 and a second connecting support seat 102 are respectively arranged at two ends of the first square aluminum 108, a first motor 105 and a first driving wheel 106 which are mutually connected are arranged on the first connecting support seat 101, a first driven wheel 107 is arranged on the second connecting support seat 102, and a transmission belt 103 is connected with the first driving wheel 106 and the first driven wheel 107; the first slider 104 is engaged with the belt 103. The first sliding guide rail 109 is further included, the first sliding guide rail 109 is located on the first square aluminum 108, and the first slider 104 is connected with the first sliding guide rail 109 in a sliding manner.

The second-direction movement mechanism 200 comprises a first sliding frame 210, a second sliding frame 220 and a horizontal beam 230, wherein 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 comprises a second bottom plate 201, a first lever 202, a first lead screw 203, a second lever 204, a second motor 206 seat 205, a second motor 206 and a second coupling 207, wherein the first lever 202, the first lead screw 203 and the second lever 204 are sequentially arranged between the second bottom plate 201 and the second motor 206 seat 205, the second motor 206 is arranged on the second motor 206 seat 205, and the second motor 206 is connected with the first lead screw 203 through the second coupling 207.

The third direction movement mechanism 300 includes a third slide rail 310 and a third rack 320 which are arranged on the horizontal beam 230, and further 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 with the third slide rail 310 through the third slider 301, the third motor 331 is fixedly connected with the third support plate 330, and an output end of the third motor 331 is connected with the third rack 320 through the third transmission gear set 332.

The grabbing mechanism comprises 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 tail end of the electric push rod 420 is connected with a third grabbing unit 470; the third grabbing unit 470 comprises a third connecting seat 471, the third connecting seat 471 is connected with a third supporting frame 472, third manipulators 480 are symmetrically arranged on two sides of the third supporting frame 472, each third manipulator 480 comprises a third driving end 481, a third rotating shaft 482 and a third mechanical arm assembly 483, the third driving end 481 is connected with the third rotating shaft 482, the third rotating shaft 482 is rotatably connected with the third supporting frame 472, and the third rotating shaft 482 is fixedly connected with the third mechanical arm assembly 483.

The invention can also comprise a first connecting unit and a second connecting unit, the first grabbing unit 430 comprises a first connecting base 431, two or more first manipulators 432 are arranged on the first connecting base 431, each first manipulator 432 comprises a bidirectional driving device 433, clamping jaws 434 are connected to two sides of the bidirectional driving device 433, and a protection pad 435 is arranged on each clamping jaw 434.

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

In this embodiment, a truck with a rated load capacity of 5 tons is selected as a foundation, and the truck includes a body 800 and a compartment 810 arranged on the body 800, the body 800 has a size of 7.4 meters long, 2.2 meters wide and 2.2 meters high, the compartment 810 may have a structure of a conventional truck compartment 810, or may have a box structure with an opening at the top, the box includes two side plates, a bottom plate and a front plate of the compartment 810, the rear part is a box door, which is not shown in the figure, and the compartment 810 has a size of 6 meters long, 2 meters wide and 2.5 meters high. The carriage 810 is provided with an automatic loading device, wherein the automatic loading device comprises a control device 820, a first direction movement mechanism 100, a second direction movement mechanism 200 and a third direction movement mechanism 300; the control device 820 is disposed on a side plate of the carriage 810, and in the embodiment, the control device 820 is a PLC control system, for example, a PLC control system assembled by using mitsubishi PLC program controllers mitsubishi FX2N-80MR-001 and other accessories, so as to accurately control the movement position of the movement mechanism in each direction.

The first direction movement mechanism 100 controls the grabbing mechanism to move along a first direction, in this embodiment, the grabbing mechanism is controlled to move along the X direction, i.e. the length direction of the carriage 810, and the moving range is 0-5.7 meters; the device comprises two parallel linear guide rail moving devices, wherein the linear guide rail moving devices are respectively and fixedly arranged on side plates of a carriage 810 at two sides of the carriage 810; the two linear guide rail moving devices have the same structure and are only symmetrically arranged in position, so that only one linear guide rail moving device is introduced in the application document. The linear guide rail moving device comprises a first connecting support seat 101, a second connecting support seat 102, a transmission belt 103, a first sliding block 104, a first motor 105, a first driving wheel 106, a first driven wheel 107 and first square aluminum 108; the first square aluminum 108 can be selected from square aluminum alloy profiles for supporting and bearing functions, and the first connecting support seat 101 is similar to the second connecting support seat 102 in structure, is located at two ends of the first square aluminum 108, and is fixed on a side plate of the carriage 810. 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, and by combining the two support seat side plates 1021 and one support seat cover plate, a first driven wheel 107 is arranged between the two support seat side plates 1021 of the second connecting support seat 102, and in this embodiment, the first driven wheel 107 is a straight cylindrical tooth structure and is rotatably connected with the two support seat side plates 1021 of the second connecting support seat 102 through a driven gear shaft; still be provided with guide block 1022 on the supporting seat curb plate 1021, guide block 1022 passes through bolt assembly with supporting seat curb plate 1021 and is connected, and guide block 1022 can cooperate with first party aluminium 108, and the installation of the second joint support 102 of being convenient for sets up 4 guide blocks 1022 simultaneously in this application, also can further improve overall structure's stability. The first connecting support seat 101 is located at the front end of the side plates of the carriage 810, the first connecting support seat 101 is provided with a first motor 105 through screws, a driving gear is rotatably connected between the two support seat side plates 1021 of the first connecting support seat 101 through a driving gear shaft, 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 gear 106 is driven to rotate through the first motor 105. The transmission belt 103 can be a toothed transmission belt 103, and the specific belt type and pitch can be selected by referring to main parameters of a synchronous belt in a mechanical design manual or GB/T11616; in this embodiment, a timing belt is selected, the timing belt is engaged with the first driving pulley 106 and the first driven pulley 107, and the first square aluminum 108 is located in the transmission belt 103. The first sliding block 104 is sleeved on the transmission belt 103 and moves along with the movement of the transmission belt 103, for example, a tooth structure meshed with the tooth form of the transmission belt 103 can be arranged on the first sliding block 104, and the first sliding block 104 is further driven to move by the movement of the transmission belt 103; in order to facilitate the movement of the first slider 104, a first guide slot 1041 is further arranged below the first slider 104, the first guide slot 1041 is matched with a first sliding guide rail 109, wherein the first sliding guide rail 109 is arranged above the first square aluminum 108, and the first sliding guide rail 109 can be a common linear guide rail, for example, a commercially available GH65HA product, which is fixed above the first square aluminum 108 and is used for guiding the first slider 104 to slide; by providing the first guide slot 1041 on the first slider 104 and providing the first sliding guide 109 cooperating therewith, the stability and accuracy of the sliding of the first slider 104 along the transmission belt 103 are improved.

When the first square aluminum 108 is used, the first square aluminum 108 is fixed to the top of the side plate of the carriage 810, and the first connecting support seat 101 and the second connecting support seat 102 are arranged at two ends of the first square aluminum, so that the components of the first direction movement mechanism 100 can be conveniently mounted or dismounted; first motor 105 is connected with controlling means 820 electricity, and when controlling means 820 controlled first motor 105 operation, the drive belt 103 began to move, and then drives first slider 104 on the drive belt 103 and remove, and other structures of this application are installed on first slider 104 to this reaches and drives this application structure through first motor 105 and removes along first direction.

In the present application, since the actual size of the boxcar 810 is large, and the first direction is the direction of the largest moving stroke of the device of the present application, the first direction moving mechanism 100 in this embodiment adopts a synchronous belt transmission as a basic structure, the synchronous belt transmission is a special belt transmission, the working surface of the belt is a tooth shape, the edge of the belt wheel is also made into a corresponding tooth shape, the synchronous belt structure is compact compared with the common belt structure, the strong layer thereof is made of a fiber material or a metal material with high tensile strength and small elongation, the synchronous belt can keep the circumference of the toothed belt unchanged during the transmission process, and can slide relative to the first driving wheel 106 or the first driven wheel 107, and meanwhile, other accessories in the present application are assisted, the effects of constant and accurate transmission ratio, stable transmission, buffering and shock absorption, capability of transmitting power between large shaft distance and multiple shafts, and the like are achieved, and the first direction moving mechanism 100 does not need to be lubricated, low cost, easy maintenance, synchronous transmission and high transmission efficiency.

The second direction moving mechanism 200 controls the grabbing mechanism to move along the second direction, and in this embodiment, controls the grabbing mechanism to move along the Z direction, i.e. the height direction of the carriage 810, the moving range is 0-1.5 m, and includes a first sliding frame 210 and a second sliding frame 220 which are symmetrically arranged, the first sliding frame 210 and the second sliding frame 220 have the same structure, are only symmetrically arranged in position, and are both arranged above the first sliding block 104 of the first direction moving mechanism 100, so only one of them is described in detail in this application document.

The second-direction moving mechanism 200 further includes a horizontal beam 230, and the horizontal beam 230 may be of a box structure in this embodiment, that is, a box body formed by welding a plurality of plates and having a rectangular parallelepiped shape, so that the overall weight of the second-direction moving mechanism 200 can be reduced, the problem of the apparatus can be improved, and the operation cost of the horizontal beam 230 can be reduced; to improve strength and provide a reliable foundation for the third direction motion mechanism 300, to ensure that the third direction motion mechanism 300 operates correctly, a plurality of reinforcing bars may be welded within the box structure. The 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 comprises a second bottom plate 201, a first light bar 202, a first lead screw 203, a second light bar 204, a second motor 206 seat 205, a second motor 206 and a second coupling 207; the second bottom plate 201 is of a plate-shaped structure and is fixed on the first sliding block 104 through welding or bolt connection; the second motor 206 base 205 is also a plate-shaped structure, and the shape of the second motor 206 base is matched with that of the second base plate 201, but the second motor 206 base is located above the second base plate 201, and the distance between the second base plate 201 and the second motor 206 base 205 corresponds to the moving range of the second direction movement mechanism 200. First feed rod 202, first lead screw 203, second feed rod 204 are arranged between second bottom plate 201 and second motor 206 seat 205 in sequence, first feed rod 202 and second feed rod 204 are located at two sides of first lead screw 203, first holes, second holes and third holes are symmetrically arranged at two ends of horizontal beam 230, wherein the first holes are matched with first feed rod 202, the second holes are matched with first lead screw 203, the third holes are matched with third feed rod, and through the holes in horizontal beam 230, the horizontal beam 230 is matched with feed rods and lead screws, so that the horizontal beam 230 is sleeved with first sliding frame 210 and second sliding frame 220, the first holes and the third holes are through holes, and a lead screw nut matched with first lead screw 203 is arranged in the second hole.

A second motor 206 is fixedly arranged on the second motor 206 seat 205, and the output end of the second motor 206 is connected with the first lead screw 203 through a second coupling 207; the second coupling 207 is used for transmitting power between the second motor 206 and the first lead screw 203, and may be a coupling known to those skilled in the art, and the structure thereof will not be described in detail herein. In specific implementation, the second motor 206 is connected to the control device 820, and the control device 820 controls the forward rotation and the reverse rotation, and the start and the stop of the second motor 206; the second motor 206 outputs power to drive the first lead screw 203 to rotate, and further drives the horizontal beam 230 to ascend or descend along the first and second light bars 202 and 204, so as to control the grabbing mechanism to move along the Z direction. In addition, since the second base plate 201 is fixed to the first slider 104, when the first slider 104 is controlled by the belt 103 to move in the X direction in the first direction movement mechanism 100, the second direction movement mechanism 200 of the present invention is also driven to move in the X direction as a whole.

In the application, by arranging the two optical levers, the horizontal beam 230 is uniformly stressed, the whole structure of the second direction movement mechanism 200 is uniformly stressed, the center of gravity is stable, the movement is reliable, and the service life is prolonged; and the two optical bars can better guide the up-and-down movement of the horizontal beam 230, so that the movement reliability is improved. The second direction movement mechanism 200 selects the screw transmission as the basis in the present application because the second direction movement range is smaller than the first direction and needs to be kept stationary in the second direction for a certain time for facilitating cargo handling in practical application. Through screw transmission, the lead angle on the first screw 203 is easily controlled, and the self-locking effect of the second direction movement mechanism 200 is realized. Through the transmission matching of other components of the second direction movement mechanism 200 and the lead screw, the whole structure can achieve the effects of simple transmission structure, easy processing, low cost, large transmission axial force, high positioning precision and the like.

The third direction movement mechanism 300 controls the grabbing mechanism to move along the third direction, in this embodiment, the grabbing mechanism is controlled to move along the Y direction, that is, the width direction of the carriage 810, and the moving range is 0-2 m; the device comprises a third slide rail 310 and a third rack 320 which are arranged on the horizontal beam 230, and further comprises a third support plate 330, a third motor 331, a third slide block 301 and a third transmission gear set 332. In this embodiment, the third rack 320 and the third slide rail 310 are both arranged in parallel and are fixedly disposed on the horizontal beam 230 by screws or welding; the third slide rail 310 may also adopt a linear guide rail, which has the same structure as the first slide rail, and the same third slide block 301 that is matched with the third slide rail 310 also has the same structure as the first slide block 104, and the third slide block 301 is fixed on the third support plate 330 to drive the third support plate 330 to move along the third slide rail 310. The third support plate 330 is a plate-shaped structure, a third motor 331 is fixed on the third support plate 330 through a bolt structure, an output end of the third motor 331 is connected with the third rack 320 through a third transmission gear set 332, and the third transmission set can select a common gear transmission structure, is fixed on the third support plate 330, and is the same as power transmission between the third motor 331 and the third rack 320.

In the embodiment, the third motor 331 is connected to the control device 820, and the control device 820 controls the forward rotation, the reverse rotation, the start and the stop of the third motor 331; the third motor 331 outputs power to drive the third transmission gear set 332 to develop the third rack 320 for movement, and since the third rack 320 is fixed on the horizontal beam 230, when the third motor 331 outputs power, the entire third support plate 330 is driven to move along the third rack 320, that is, the third support plate 330 is driven to move along the horizontal beam 230.

In this embodiment, the third direction moving mechanism 300 is disposed on the horizontal cross member 230, and can follow the horizontal cross member 230 to perform the second direction movement, and the third guide rail disposed on the horizontal cross member 230 not only plays a role of guiding the third support plate 330 to slide in this application, and also for supporting the third plate 330, including supporting other components on the third plate 330, in order to improve the stability of the support, and the reliability of the transmission, alternatively, a plurality of third guide rails may be arranged in parallel, or alternatively, a plurality of third sliding blocks 301 may be arranged on the unified guide rail, in this embodiment, by arranging two third guide rails, the two third guide rails are arranged on the upper side and the lower side of the third rack 320, so that the stress balance and the movement reliability of the third support plate 330 are improved, and the stress balance and the movement reliability of the third support plate 330 can be further improved by matching the third support plate 330 with each guide rail through the two third sliding blocks 301.

In this embodiment, because Y direction transmission distance is moderate, in order to ensure transmission precision, select rack gear structure as the basis in this application, cooperate other parts of third motion simultaneously, reached work steadily, the reliability is high, the bearing capacity is big, transmission power is big etc. effect.

The grabbing mechanism is arranged on the third direction moving mechanism 300, the moving mechanism in the three directions can drive the grabbing structure 400 to move along the three directions, the grabbing mechanism comprises an auxiliary support 410 arranged on the third support plate 330, an electric push rod 420 is arranged in the auxiliary support 410, and in this embodiment, the end of the electric push rod 420 is connected with a first grabbing unit 430. Specifically, the auxiliary bracket 410 includes a third auxiliary plate 411, two third side plates 412 are integrally arranged or welded on the third auxiliary plate 411, and a third bottom plate 413, wherein the third bottom plate 413, the two third side plates 412 and the third auxiliary plate 411 surround a space for accommodating the electric push rod 420, and in order to prevent the electric push rod 420 from moving in use, a bracket protrusion 414 is further arranged on the third bottom plate 413 for limiting the moving range of the electric push rod 420 and ensuring the structural stability; the third auxiliary plate 411 is further provided with a connecting hole, the grabbing mechanism can pass through the connecting hole through a bolt mechanism to fix the third auxiliary plate 411 on the third support plate 330, and the tail end of the electric push rod 420 is connected with a first grabbing unit 430 through a flange or other connecting modes; in this application, through setting up electric putter 420, can promote first grasping unit 430 and reciprocate along the Z direction, for second direction movement mechanism 200, electric putter 420 is used for the fine setting in this application, and its adjustment range is 0-0.15 meter, and for second direction movement mechanism 200, the degree of accuracy that electric putter 420 drove first grasping unit 430 is higher to avoid the removal of other parts such as horizontal beam 230, reduced the running cost of adjustment Z direction.

In order to facilitate loading and unloading of common cartons or articles packed by the cartons, in the present embodiment, the first grasping unit 430 includes a first connecting seat 431, two or more first manipulators 432 are disposed on the first connecting seat 431, the first manipulators 432 include a bidirectional driving device 433, clamping jaws 434 are connected to both sides of the bidirectional driving device 433, and a protection pad 435 is disposed on the clamping jaw 434; specifically, the first connecting seat 431 has a plate-shaped structure, and serves as a base component of the first grabbing unit 430, and is used for carrying the first manipulator 432, and a first connecting flange is further disposed on the first connecting seat 431, so as to be conveniently connected to the end of the electric putter 420, or the first connecting seat 431 may be connected to the end of the electric putter 420 by other existing methods. In order to facilitate loading and unloading of objects, the first connecting seat 431 may be provided with two or more first manipulators 432, the two or more first manipulators 432 are symmetrically arranged on the first connecting seat 431, the first manipulator 432 includes a bidirectional driving device 433, in this embodiment, a bidirectional driving cylinder 504 is adopted, the bidirectional driving cylinder 504 is fixed on the first connecting seat 431 through a bolt assembly, and the two ends of the bidirectional driving cylinder 504 are connected with clamping jaws 434. The bi-directional driving cylinder 504 is connected to the air source through a pneumatic circuit, and since the driving portion of the bi-directional driving cylinder 504 can adopt the conventional technology in the art, it will not be described in detail herein, the operation of the bi-directional driving cylinder 504 is realized by the movement of the bi-directional driving cylinder 504, when in use, a carton or the like is located between the two clamping jaws 434, when the clamping jaws 434 move towards each other, the article is clamped, the first grabbing unit 430 is driven to move to the predetermined position through the movement mechanisms in the aforementioned three directions, and then the bi-directional driving cylinder 504 is driven to make the clamping jaws 434 move away from each other, so that the article is placed, and thus the loading and unloading of the carton or the like are completed. In order to improve the reliability of loading and unloading, the protection pad 435 is arranged on the clamping jaw 434, the protection pad 435 is made of a material which is softer than that of the clamping jaw 434, the protection pad 435 is arranged, the clamping jaw 434 is prevented from damaging an object in the clamping process, meanwhile, the contact area between the clamping jaw and the object can be increased after the protection pad 435 is arranged, the clamping force is more uniform, and the stability of object clamping is improved.

In another embodiment of the present application, in order to facilitate the handling of glass or other fragile objects, or to handle objects with large volume and light specific gravity such as paper, the end of the electric push rod 420 is connected to the second grabbing unit 450 by a flange or other connection means; the second grabbing unit comprises 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 arranged on the second supporting frame 452; specifically, the second connecting seat 451 is also a plate-shaped structure, and as a basic component of the second grabbing unit 450, a second connecting flange is provided on the second connecting seat 451, so as to be connected to the end of the electric push rod 420 conveniently, the second connecting seat 451 and the end of the electric push rod 420 can also be connected in other existing manners, the other side of the second connecting seat 451 is fixedly provided with a second supporting frame 452 by welding or other manners, and the second supporting frame 452 is a steel structure formed by welding a plurality of section steels. In order to improve the second and snatch the intensity of unit, second support frame 452 can also select to be the boss steel construction, the boss steel construction indicates the second support frame 452 that is lug boss structure through other shaped steel welding such as square steel or angle steel or round steel, including second roof-rack and second chassis, also through a plurality of shaped steel welded connection between second roof-rack and the second chassis, in order to improve the stability and the reliability of second support frame 452, the second roof-rack is connected with second connecting seat 451, be connected with two or more than two vacuum chuck 453 through bolt structure or other current connected modes on the second chassis.

The vacuum chuck 453 is connected to a vacuum generator, as both the vacuum chuck 453 and the vacuum generator may be selected from the prior art disclosures, such as selecting a DO 25VT model vacuum pumping unit system and connecting a disc type sponge vacuum chuck 453. Specifically, the vacuum pump unit 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 large volume and light specific gravity such as paper, the second grabbing unit 450 moves to a preset position, and is in contact with the objects through the disc type sponge vacuum chuck 453, and the vacuum pump unit system moves at the moment, so that vacuum is formed between the sponge vacuum chuck 453 and the objects, and adsorption force is generated; then, the second grabbing unit 450 and the adsorbed object are driven to move to a preset position through the movement mechanisms in the three directions, then the vacuum pump unit system is driven, the vacuum degree between the disc type sponge vacuum chuck 453 and the object is reduced, the object falls into the preset position through self weight, and the loading and unloading of the glass or the similar glass objects are completed. In order to improve the reliability of the assembly and disassembly, a plurality of sponge vacuum suction cups 453 can be arranged on the second support frame 452, so that the stress uniformity of the object in the grabbing process is improved, and the stability of vacuum adsorption is also improved.

In order to facilitate loading and unloading of bagged goods, such as flour, fertilizer, rice and the like, which are transported in bags and are easily changed due to stress applied to the packaging bags during grabbing, in another embodiment of the present application, the end of the electric push rod 420 is connected with a third grabbing unit 470 through a flange or other connection means; the third grabbing unit 470 comprises a third connecting seat 471, the third connecting seat 471 is connected with a third supporting frame 472, third manipulators 480 are symmetrically arranged on two sides of the third supporting frame 472, each third manipulator 480 comprises a third driving end 481, a third rotating shaft 482 and a third mechanical arm assembly 483, the third driving end 481 is connected with the third rotating shaft 482, the third rotating shaft 482 is rotatably connected with the third supporting frame 472, 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 may be configured as a manipulator with a cage-shaped structure, wherein the third connecting seat 471 is also configured as a plate-shaped structure, and as a connecting member of the third grabbing unit 470, a third connecting flange is disposed on the third connecting seat 471, so as to be conveniently connected to the end of the electric push rod 420, the third connecting seat 471 may be connected to the end of the electric push rod 420 in other existing manners, a third supporting frame 472 is fixedly disposed on the other side of the third connecting seat 471 by welding or other manners, and the third supporting frame 472 may be configured as a plate-shaped structure or a steel structure formed by welding a plurality of steel sections.

In order to improve the strength of the third connection unit, as shown in the drawing, the third support frame 472 is a plate-shaped structure, the third connection seat 471 is integrally disposed at one side of the third support frame 472, and two symmetrical third manipulators 480 are disposed at the other side of the third support frame 472, so that the third manipulator 480 is connected to the third support frame 472, and a third left box and a third right box are symmetrically welded to the third support frame 472. Through two box of welding, the bulk strength and the bearing capacity of third coupling unit have been improved. The third manipulator 480 comprises a third rotating shaft 482, the third rotating shaft 482 can be selectively and rotatably connected with a third left box body or a third right box body through a rolling bearing structure, the third driving end 481 can be selected from a common air cylinder, a piston rod of the air cylinder 504 is driven to move through compressed air, the tail end of the piston rod is connected with the third rotating shaft 482, and the third driving end 481 is also rotatably connected with the third left box body or the third right box body.

The third linkage unit still includes third robotic arm assembly 483, and in order to adapt to and snatch the article of bag-like packing, third robotic arm assembly 483 includes third base plate, a plurality of nail claw in this application, and wherein the nail claw is L type structure, and one end and third base plate fixed connection, third base plate both ends still fixedly connected with third connecting plate and fourth connecting plate, third connecting plate and fourth connecting plate rotate with the both ends of third pivot 482 respectively and are connected. When the pneumatic power machine is used specifically, compressed air is used as a power source, a control part of the power source is connected with the control device 820 of the structure, and the pneumatic power machine can simultaneously drive the two third driving ends 481 to act to drive the third rotating shafts 482 corresponding to the two third driving ends 481 to rotate, so that the two corresponding third mechanical arm assemblies 483 are driven to move oppositely and oppositely; when two corresponding third robotic arm assembly 483 form the motion in opposite directions, realize snatching the goods in bags, when two corresponding third robotic arm assembly 483 form the back of the body motion, realize putting things in good order the goods in bags.

In another embodiment of the present application, in order to be able to adapt the cargo to the handling of different cargoes simultaneously; the end of the electric push rod 420 is connected with a conversion frame unit 500, the conversion frame unit 500 comprises a connecting support column 501, the connecting support column 501 is arranged along the Z direction and is fixedly connected with the end of the electric push rod 420, and the electric push rod 420 can drive the connecting support column 501 to rotate. The connecting strut 501 is further fixedly provided with a connecting partition plate 502, wherein the connecting partition plate 502 is parallel to an XY plane formed by an X axis and a Y axis, the connecting partition plate 502 is perpendicular to the connecting strut 501, and three protrusions are uniformly arranged along the rotating direction of the connecting strut 501, a driving cylinder 504 is fixedly arranged below each protrusion, namely a first driving cylinder 504, a second driving cylinder 504 and a third driving cylinder 504, the three driving cylinders 504 are all connected with a control device 820 in the application, meanwhile, the tail end of the first driving cylinder 504 is connected with a first grabbing unit 430 through a flange structure, the tail end of the second driving cylinder 504 is connected with a second grabbing unit 450 through a flange structure, the tail end of the third driving cylinder 504 is connected with a third grabbing unit 470 through a flange structure, by arranging the three driving cylinders 504, the movement strokes of the three grabbing units can be respectively controlled, and the convenience of operation is improved, meanwhile, the driving energy is saved. Through setting up the connection baffle 502 in this structure, not only be convenient for install each and drive actuating cylinder 504, set up simultaneously and can also avoid three kinds to snatch the unit behind the connection baffle 502 and take place to interfere in the use, improve the stability of this application structure.

In another embodiment of the present application, an industrial camera 503 assembly is further included, the industrial camera 503 assembly includes a camera bracket 505 and a first converter 506 which are connected with each other, and the camera bracket 505 and the first converter 506 are sleeved on the connecting strut 501 in an up-down structure; the camera support 505 is further provided with a camera 503, the camera 503 is also connected with the first converter 506, and the first converter 506 is further connected with the control device 820. In the concrete use, be connected with first converter 506 through controlling means 820, first converter 506 can drive camera support 505 and rotate along connecting support 501 under controlling means 820's control, and then control camera 503 also can carry out 360 degrees rotations, thereby judge whether the goods snatchs and finish and judge whether the manipulator reaches the best distance of snatching, improve production efficiency, also can improve its stability, In order to improve the definition, camera 503 can select the product among the prior art such as kangsha In-Sight 9902L among the structure of this application. In order to further increase the movement reliability of the gripper unit, the connecting plate 502 can optionally be coupled to the connecting strut 501, a second switch 507 can be coupled between the connecting strut 501 below the first switch 506 and the connecting plate 502, the second switch 507 is coupled to the connecting plate 502, and the second switch 507 is coupled to the control device 820. Under controlling means 820's control, second converter 507 is used for connecting baffle 502 and carries out 360 rotations to look for good angle of snatching, improve the stability that the goods snatched, when it used with the cooperation of camera 503, thereby guarantee leakless, not wrong the grabbing, improve the efficiency of snatching the goods.

In the mechanism of the present application, the control device 820 may take various implementation forms, such as relay control, single chip microcomputer control, PLC control, and the like. The PLC control has unique advantages which are not possessed by other control modes, such as high reliability, short system design period, good general performance, strong practical performance, complete hardware matching, simple and easy learning of programming steps, a cyclic scanning working mode, small weight and volume, low energy consumption and the like, and can replace a plurality of traditional control circuits of the relay to realize logic control and sequential control, thereby not only being applied to the control of single equipment, but also being applied to cluster control and an automatic assembly line; therefore, in the present application, a PLC control system is selected as a basis for the control device 820. In the application, the PLC model adopted by the host of the control device 820 is Mitsubishi FX2N-80MR, and the power supply selects 220V of daily life power consumption.

Claims (3)

1. A truck with an automatic loading device for loading and unloading bagged goods is characterized by comprising a truck body (800) and a carriage (810) arranged on the truck body (800), wherein the carriage (810) is also provided with the automatic loading device, the automatic loading device comprises 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 tail end of the third direction movement mechanism (300) is provided with a grabbing structure (400);

the first-direction movement mechanism (100) comprises two parallel linear guide rail moving devices, and each linear guide rail moving device comprises a first connecting support seat (101), a second connecting support seat (102), a transmission belt (103), a first sliding block (104), a first motor (105), a first driving wheel (106), a first driven wheel (107) and first square aluminum (108); the first square aluminum (108) is located above the carriage (810), a first connecting support seat (101) and a second connecting support seat (102) are respectively arranged at two ends of the first square aluminum (108), a first motor (105) and a first driving wheel (106) which are connected with each other are arranged on the first connecting support seat (101), a first driven wheel (107) is arranged on the second connecting support seat (102), and a transmission belt (103) is connected with the first driving wheel (106) and the first driven wheel (107); the first sliding block (104) is sleeved with the transmission belt (103);

the first square aluminum sliding device further comprises a first sliding guide rail (109), the first sliding guide rail (109) is positioned on the first square aluminum (108), and the first sliding block (104) is connected with the first sliding guide rail (109) in a sliding mode;

the second-direction movement mechanism (200) comprises a first sliding frame (210), a second sliding frame (220) and a horizontal beam (230), wherein 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) comprises a second bottom plate (201), a first feed screw (202), a first lead screw (203), a second feed screw (204), a second motor (206) seat (205), a second motor (206) and a second coupler (207), wherein the first feed screw (202), the first lead screw (203) and the second feed screw (204) are sequentially arranged between the second bottom plate (201) and the second motor (206) seat (205), the second motor (206) is arranged on the second motor (206) seat (205), and the second motor (206) is connected with the first lead screw (203) through the second coupler (207);

the third direction movement mechanism (300) comprises a third slide rail (310) and a third rack (320) which are arranged on the horizontal cross beam (230), and further comprises a third support plate (330), a third motor (331), a third slide block (301) and a third transmission gear set (332), wherein the third support plate (330) is connected with the third slide rail (310) through the third slide block (301), 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 comprises an auxiliary support (410) arranged on the third support plate (330), an electric push rod (420) is arranged in the auxiliary support (410), and the tail end of the electric push rod (420) is connected with a third grabbing unit (470); the third grabbing unit (470) comprises a third connecting seat (471), the third connecting seat (471) is connected with a third supporting frame (472), third mechanical arms (480) are symmetrically arranged on two sides of the third supporting frame (472), each third mechanical arm (480) comprises a third driving end (481), a third rotating shaft (482) and a third mechanical arm assembly (483), each third driving end (481) is connected with one third rotating shaft (482), each third rotating shaft (482) is rotatably connected with the corresponding third supporting frame (472), and each third rotating shaft (482) is fixedly connected with the corresponding third mechanical arm assembly (483).

2. A truck for loading and unloading bagged goods with automatic loading means, according to claim 1, said third slider (301) being provided with two or more.

3. A truck for loading and unloading of bagged goods with automatic loading means according to claim 1, said third sliding track (310) being provided with two or more.

Images