CN112499296A

CN112499296A - Truss robot system of automatic refrigerator loading and unloading vehicle

Info

Publication number: CN112499296A
Application number: CN202011549441.9A
Authority: CN
Inventors: 马相林; 王刚; 朱聪
Original assignee: Nanjing Institute of Technology
Current assignee: Nanjing Institute of Technology
Priority date: 2020-12-24
Filing date: 2020-12-24
Publication date: 2021-03-16

Abstract

The invention discloses a truss robot system of an automatic refrigerator loading and unloading vehicle, which comprises a refrigerator conveying line for conveying a refrigerator, a four-coordinate automatic loading device for loading the refrigerator on the refrigerator conveying line, a track assembly laid at the bottom of the four-coordinate automatic loading device, a clamp for clamping the refrigerator, an R-axis rotating assembly for adjusting the clamping direction of the clamp, a Y-axis moving assembly for driving the R-axis rotating assembly to horizontally move in a left-right reciprocating manner, a Z-axis lifting assembly for driving the Y-axis moving assembly to move in a vertical manner, and an X-axis moving assembly for driving the Z-axis lifting assembly to move in a front-back manner, wherein the track assembly is arranged in the front-back direction; the automatic loading and unloading vehicle can carry out automatic loading and unloading of the refrigerator according to a set program, replaces a manual loading and unloading mode, and improves the loading and unloading efficiency and precision; and set up and prevent lifting subassembly and anticollision facility, promote the security of loading and unloading, carry out the loading and unloading operation of multiple model refrigerator through changing anchor clamps, adaptability is good.

Description

Truss robot system of automatic refrigerator loading and unloading vehicle

Technical Field

The invention relates to the technical field of loading robots, in particular to a truss robot system of an automatic refrigerator loading and unloading vehicle.

Background

The machine operation at the present stage gradually replaces manual operation, and in the face of long-time operation which is monotonous, high in labor intensity and repeated, the labor cost is high, the efficiency is not required, and the benefit of the product is reduced. Carry out the operation of pile up neatly behind the image pair product vanning, the product is after the packing is accomplished, it transports to its pile up neatly loading of putting in order, these little packing boxes of operation are all artifical to put in order at present, artificial hand speed will be fast, and will have the requirement to its quantity of putting in order at every turn, big packing box all is that the workman drives fork truck or other transport means and puts in order the pile up neatly, often the efficiency is not high still has certain danger coefficient and can have error in quantity, the box of this kind of jumbo size of refrigerator and big weight especially, there is degree of automation low, the loading is inefficient, danger coefficient is not enough such as high.

Disclosure of Invention

The technical purpose is as follows: the invention discloses a safe and reliable truss robot system of an automatic refrigerator loader, which can automatically load and unload goods and aims to overcome the defects that the existing heavy box body goods loading is low in efficiency, high in danger coefficient, lack of an automatic loading system and the like.

The technical scheme is as follows: in order to achieve the technical purpose, the invention adopts the following technical scheme:

the truss robot system of the refrigerator automatic loading and unloading vehicle comprises a refrigerator conveying line for conveying a refrigerator, a four-coordinate automatic loading device for loading the refrigerator on the refrigerator conveying line, a rail assembly laid at the bottom of the four-coordinate automatic loading device, a direction of the rail assembly is parallel to that of the refrigerator conveying line, the installation direction of the rail assembly is the front-back direction, the four-coordinate automatic loading device is used for clamping a fixture of the refrigerator, an R-axis rotating assembly used for adjusting the clamping direction of the fixture, a Y-axis moving assembly used for driving the R-axis rotating assembly to horizontally move left and right in a reciprocating mode, a Z-axis lifting assembly used for driving the Y-axis moving assembly to move up and down, and an X-axis moving assembly used for driving the Z-axis lifting assembly to move back and forth.

Preferably, the track assembly adopts two parallel guide rails, and the bottoms of the guide rails are fixed with the ground; the X-axis moving assembly comprises a horizontal moving frame, a first driving motor and a guide wheel, the guide wheel is arranged at the bottom of the horizontal moving frame, the first driving motor is fixed on one side of the horizontal moving frame, and a transmission end of the first driving motor is connected with the guide wheel on the same side.

Preferably, the horizontal migration frame includes connection frame and the collateral branch strut that sets up at the connection frame both ends, the leading wheel sets up the bottom at the collateral branch strut, the horizontal migration frame is divided into preceding terminal surface and rear end face along its moving direction, four corners of preceding terminal surface set up preceding anticollision grating, four angles of rear end face set up back anticollision grating, and correspond preceding anticollision switch and the back anticollision switch who is furnished with the control grating switching, preceding anticollision grating sets up the upper portion and the lower part of terminal surface before the collateral branch strut respectively, back anticollision grating sets up the upper portion and the lower part at collateral branch strut rear end face respectively, the vertical setting of rack is on the terminal surface before the collateral branch strut, a driving motor fixes on one of them collateral branch strut, be fixed with a driving motor encoder on the collateral branch strut.

Preferably, the horizontal moving frame is provided with a falling prevention buffer below the Z-axis moving assembly, the falling prevention buffer is fixed on the side supporting frames, the buffering end of the falling prevention buffer faces upwards, the two side supporting frames are provided with a lifting prevention assembly at the bottom of the side face adjacent to the front end face, and the bottom end of the lifting prevention assembly is buckled below the guide rail.

Preferably, the Z-axis lifting assembly comprises a lifting frame, a lifting motor, a transmission shaft, a transmission gear and a driven gear, the lifting frame is positioned on one side of the advancing direction of the horizontal moving frame, the lifting frame is in sliding connection with the horizontal moving frame in the vertical direction, the transmission shaft is in matched connection with the lifting frame through a bearing along the length direction of the lifting frame, the transmission gear is arranged in the middle of the transmission shaft, the lifting motor is fixed on the lifting frame, and the transmission end of the lifting motor is meshed with the transmission gear through the gear; driven gear fixes at the both ends of transmission shaft, and horizontal migration frame sets up the rack with driven gear complex in the one side that is close to lifting frame, and the teeth of a cogwheel and the rack toothing of driven gear.

Preferably, crash cushions are arranged at two ends of the lifting frame along the length direction.

Preferably, Y axle removes subassembly includes carriage, second driving motor, and the carriage setting is on lifting frame, and lifting frame sets up the slide rail along length direction, and the carriage is connected with the slide rail cooperation, and second driving motor fixes on the carriage, and lifting frame is last to set up the driving rack, and the driving rack sets up along lifting frame's length direction, and the transmission end of second driving motor passes through the gear and is connected with the driving rack, and lifting frame turns over the setting under the slide rail and connects the oil groove.

Preferably, the R-axis rotating assembly comprises a rotating frame and a third driving motor, the rotating frame is arranged below the sliding frame, the top of the rotating frame is rotatably connected with the sliding frame, the third driving motor is fixed on the sliding frame, a transmission end of the third driving motor faces vertically downwards, the transmission end of the third driving motor is connected with the rotating frame, and the fixture is fixed on the rotating frame.

Has the advantages that: the truss robot system of the refrigerator automatic loading and unloading vehicle provided by the invention has the following beneficial effects:

1. the automatic loading and unloading device adopts a mechanical mode to replace manual work to carry out automatic loading and unloading, realizes the grabbing and carrying of goods through the four-coordinate automatic loading device, has high automation degree, and improves the loading and unloading efficiency.

2. According to the invention, the limit sensor and the position sensor are arranged on the four-coordinate automatic loading device, so that the precise control of cargo handling is realized, and the operation precision is improved.

3. According to the invention, the anti-lifting assembly is arranged at the bottom of the side support frame of the X-axis moving assembly, so that the gravity center is prevented from shifting and being lifted accidentally during the operation of the horizontal moving frame, and the operation safety is ensured.

4. The first driving motor, the second driving motor, the third driving motor and the lifting motor of the four-coordinate automatic loading device are all provided with encoders, encoding is carried out according to the positioning of the sensor, the device is automatically carried out according to the encoding, and the intelligent degree is improved.

5. The lifting of the lifting assembly and the movement of the Y-axis moving assembly are transmitted through the gear and rack mechanisms, so that the lifting assembly is good in stability, difficult to trip and high in safety.

6. The magnetic suction type fixture is adopted, and the refrigerator cannot be damaged during grabbing.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.

FIG. 1 is an overall top view of the present invention;

FIG. 2 is a perspective view of a four-coordinate automatic loading device of the present invention;

FIG. 3 is a perspective view of the X-axis motion assembly of the present invention;

FIG. 4 is a perspective view of a side support bracket of the present invention;

FIG. 5 is a perspective view of the Z-axis lift assembly of the present invention;

FIG. 6 is a schematic view of the upper slide rail and the transmission rack of the lifting frame of the present invention;

FIG. 7 is a perspective view of the Y-axis moving assembly and the R-axis rotating assembly of the present invention;

the automatic loading device comprises a 1-refrigerator conveying line, a 2-four-coordinate automatic loading device, a 3-track assembly, a 4-X-axis moving assembly, a 5-Y-axis moving assembly, a 6-Z-axis lifting assembly, a 7-R-axis rotating assembly, an 8-clamp, a 9-horizontal moving frame, a 10-first driving motor, an 11-guide wheel, a 12-lifting frame, a 13-lifting motor, a 14-transmission shaft, a 15-transmission gear, a 16-driven gear, a 17-rack, an 18-sliding frame, a 19-second driving motor, a 20-sliding rail, a 21-transmission rack, a 22-rotating frame, a 23-third driving motor, a 24-front anti-collision grating, a 25-rear anti-collision grating, a 26-front anti-collision switch, a 27-rear anti-collision switch, a, 28-connecting frame, 29-side supporting frame, 30-first driving motor encoder, 31-anti-lifting assembly, 32-anti-falling buffer, 33-anti-collision buffer, 34-oil receiving groove, 35-second driving motor encoder, 36-third driving motor encoder, 37-rail sweep, 38-control box, 39-driving device and 301-guide rail.

Detailed Description

The present invention will be more clearly and completely described below by way of a preferred embodiment in conjunction with the accompanying drawings, without thereby limiting the scope of the invention to the described embodiment.

As shown in fig. 1 and 2, the truss robot system for the automatic refrigerator loader comprises a refrigerator conveying line 1 for conveying a refrigerator, a four-coordinate automatic loading device 2 for loading the refrigerator on the refrigerator conveying line 1, a rail component 3 laid at the bottom of the four-coordinate automatic loading device 2, a direction of the rail component 3 is parallel to the refrigerator conveying line 1, an installation direction of the rail component 3 is a front-back direction, the four-coordinate automatic loading device 2 is used for clamping a clamp 8 of the refrigerator, an R-axis rotating component 7 for adjusting a clamping direction of the clamp 8, a Y-axis moving component 5 for driving the R-axis rotating component 7 to horizontally move in a left-right reciprocating manner, a Z-axis lifting component 6 for driving the Y-axis moving component 5 to move up and down, and an X-axis moving component for driving the Z-axis lifting component 6 to move back and forth.

As shown in fig. 3, the X-axis moving assembly 4 includes a horizontal moving frame 9, a first driving motor 10 and a guide wheel 11, the horizontal moving frame 9 is divided into a front end face and a rear end face along the moving direction of the X-axis moving assembly 4, the front end face is located on one side of the forward direction, the rear end face is located on one side of the backward direction, the horizontal moving frame 9 includes a connecting frame 28 and side supporting frames 29 disposed on two ends of the connecting frame 28, the guide wheel 11 is disposed on the bottom of the side supporting frames 29, the guide wheel 11 is mounted on the side supporting frames 29 through a bearing, the bottom of the guide wheel 11 is connected with the guide rail 301 in a matching manner, the first driving motor 10 is fixed on the bottom of one of the side supporting frames 29, and the driving end of the first driving motor 10 is connected with.

As shown in fig. 2 and 4, an anti-lift assembly 31 is arranged at the bottom of the side surface of each side support frame 29 adjacent to the front end surface, the top of the anti-lift assembly 31 is fixed on the side support frame 29, the bottom of the anti-lift assembly 31 is buckled below the guide rail 301, rail wipers 37 matched with the guide rail 301 are arranged at the lower parts of the front and rear end surfaces of the side support frame 29, obstacles on the guide rail 301 are cleaned through the rail wipers 37, the side support frame 29 provided with a first driving motor 10 is provided with a first driving motor encoder 30 corresponding to the first driving motor 10, the front and rear end surfaces of the side support frame 29 are respectively provided with a front anti-collision grating 24 and a rear anti-collision grating 25 and are provided with a corresponding front anti-collision switch 26 and a rear anti-collision switch 27, for convenience of operation, the front anti-collision switch 26 and the rear anti-collision switch 27 are both arranged at positions close to the ground, the front anti-collision gratings 24 are respectively arranged, the rear anti-collision grating 25 is respectively arranged at the upper part and the lower part of the rear end surface of the side support frame 29.

As shown in fig. 3 and 5, the Z-axis lifting assembly 6 includes a lifting frame 12, a lifting motor 13, a transmission shaft 14, a transmission gear 15 and a driven gear 16, the Z-axis lifting assembly 6 is connected with the horizontal moving frame 9 in a sliding manner in a vertical direction through the lifting frame 12, the transmission shaft 14 is connected with the lifting frame 12 in a matching manner along a length direction of the lifting frame 12 through a bearing, the bearing seat is a self-aligning roller bearing seat, the transmission gear 15 is disposed in a middle portion of the transmission shaft 14, the lifting motor 13 is fixed on the lifting frame 12, a transmission end of the lifting motor 13 is engaged with the transmission gear 15 through a gear to drive the transmission shaft 14 to rotate, the driven gear 16 is fixed at two ends of the transmission shaft 14, a rack 17 corresponding to a position of the driven gear 16 is disposed on a front end surface of the horizontal moving frame 9 in the vertical direction, the rack 17 is fixed on a, a control box 38 is also provided on the lifting frame 12 for controlling the Z-axis lifting assembly.

The horizontal moving frame 9 is provided with a falling prevention buffer 32 below the Z-axis lifting assembly 6, the falling prevention buffers 32 are respectively fixed on the two side supporting frames 29, and the buffering end of the falling prevention buffer 32 is vertically upward.

As shown in fig. 6 and 7, the Y-axis moving assembly includes a sliding frame 18 and a second driving motor 19, the sliding frame 18 is slidably connected to the lifting frame 12 along the length direction of the lifting frame 12, two parallel sliding rails 20 are disposed on the lifting frame 12, the installation direction of the sliding rails 20 is parallel to the length direction of the lifting frame 12, and a sliding slot matched with the sliding rails 20 is disposed on the sliding frame 18; second driving motor 19 fixes on carriage 18, drives carriage 18 through gear, rack gear and slides on lifting frame 12, sets up driving rack 21 on lifting frame 12, and driving rack 21's installation direction is parallel with slide rail 20, and second driving motor 19's transmission end is connected with driving rack 21 through the gear, and second driving motor 19 is furnished with corresponding second driving motor encoder 35, and second driving motor encoder 35 fixes on carriage 18.

The oil receiving groove 34 is formed in the lower portion of the sliding rail 20 of the lifting frame 12, and the oil receiving groove 34 is used for receiving lubricating grease dripped by meshing of a gear and a rack, so that the environmental condition of equipment is managed conveniently, and the refrigerator is prevented from being polluted.

As shown in fig. 7, the R-axis rotating assembly includes a rotating frame 22 and a third driving motor 23, and the third driving motor 23 is provided with a corresponding third driving motor encoder 36; the rotating frame 22 is arranged below the sliding frame 18, the rotating frame 22 is connected with the sliding frame 18 in a rotating mode, the third driving motor 23 is fixed on the sliding frame 18, the transmission end of the third driving motor 23 faces downwards vertically, the transmission end of the third driving motor 23 is connected with the rotating frame 22, the clamp 8 is fixed on the rotating frame 22, the clamp 8 is provided with a magnetic suction type clamp and is provided with a driving device 39 for driving the clamp 8 to move, the rotating frame 22 and the clamp 8 can be adjusted in adaptability according to the refrigerator model needing to be carried, and the adaptability is good.

When the truss robot system of the refrigerator automatic loading and unloading vehicle is used, the four-coordinate automatic loading device 2 is in an initial state, the first driving motor 10 drives the four-coordinate automatic loading device 2 to move to a refrigerator grabbing point on a refrigerator conveying line 1, the lifting motor 13 drives the Z-axis lifting assembly 6 to move to a specified height corresponding to the position of a refrigerator, the second driving motor 19 drives the Y-axis moving assembly 5 to slide on the lifting frame 12, the Y-axis moving assembly 5 drives the R-axis rotating assembly 7 to synchronously move, the third driving motor 23 drives the rotating frame 22 to rotate, so that the clamp 8 is opposite to the refrigerator conveying line 1, after the grabbing of the refrigerator at the grabbing point is completed, the third driving motor 23 drives the rotating frame 22 to rotate, so that the refrigerator faces the loading direction, the second driving motor 19 drives the sliding frame 18 to slide back, the horizontal position of the refrigerator is adjusted, and the lifting motor 13 synchronously drives the Z-axis lifting assembly 6 to move along the vertical direction, the refrigerator position corresponds to the loading position, the first driving motor 10 drives the four-coordinate automatic loading device 2 to move towards the direction of the vehicle, loading is completed, the unloading step is opposite to the loading step, and corresponding motion programs are programmed according to the first driving motor encoder 30, the second driving motor encoder 35 and the third driving motor encoder 36, so that automatic loading and unloading of the refrigerator are completed.

The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.

Claims

1. The utility model provides a refrigerator auto-control handling car truss robot system which characterized in that: the refrigerator car loader comprises a refrigerator conveying line (1) for conveying a refrigerator, a four-coordinate automatic car loading device (2) for loading the refrigerator on the refrigerator conveying line (1), a track assembly (3) is laid at the bottom of the four-coordinate automatic car loading device (2), the direction of the track assembly (3) is parallel to the refrigerator conveying line (1), the installation direction of the track assembly (3) is the front-back direction, the four-coordinate automatic car loading device (2) is used for clamping a clamp (8) of the refrigerator, an R-axis rotating assembly (7) for adjusting the clamping direction of the clamp (8) is used for driving the R-axis rotating assembly (7) to horizontally move along the left-right direction in a reciprocating mode, a Y-axis moving assembly (5) for driving the Y-axis moving assembly (5) to move along a Z-axis lifting assembly (6) which moves up and down, and an X-axis moving assembly for driving the Z-axis.

2. The refrigerator lift truck truss robot system of claim 1, wherein: the track assembly (3) adopts two parallel guide rails (301), and the bottoms of the guide rails (301) are fixed with the ground; the X-axis moving assembly (4) comprises a horizontal moving frame (9), a first driving motor (10) and a guide wheel (11), wherein the guide wheel (11) is arranged at the bottom of the horizontal moving frame (9), the first driving motor (10) is fixed on one side of the horizontal moving frame (9), and a transmission end of the first driving motor (10) is connected with the guide wheel (11) on the same side.

3. The refrigerator lift truck truss robot system of claim 2, wherein: the horizontal moving frame (9) comprises a connecting frame (28) and side supporting frames (29) arranged at two ends of the connecting frame (28), guide wheels (11) are arranged at the bottom of the side supporting frames (29), the horizontal moving frame (9) is divided into a front end face and a rear end face along the moving direction of the horizontal moving frame, front anti-collision gratings (24) are arranged at four corners of the front end face, rear anti-collision gratings (25) are arranged at four corners of the rear end face and correspondingly provided with a front anti-collision switch (26) and a rear anti-collision switch (27) for controlling the gratings to be opened and closed, the front anti-collision gratings (24) are respectively arranged at the upper part and the lower part of the front end face of the side supporting frames (29), the rear anti-collision gratings (25) are arranged at the upper part and the lower part of the rear end face of the side supporting frames (29), a rack (17) is vertically arranged on the front end face of the side supporting frames (29), a first driving motor encoder (30) is fixed on the side supporting frame (29).

4. The refrigerator lift truck truss robot system of claim 3, wherein: the horizontal moving frame (9) is provided with an anti-falling buffer (32) below the Z-axis moving assembly (6), the anti-falling buffer (32) is fixed on the side supporting frames (29), the buffering end of the anti-falling buffer (32) is upward, the bottom of the side surface of each of the two side supporting frames (29) adjacent to the front end surface is provided with an anti-lifting assembly (31), and the bottom end of the anti-lifting assembly (31) is buckled below the guide rail (301).

5. The refrigerator lift truck truss robot system of claim 1, wherein: the Z-axis lifting assembly (6) comprises a lifting frame (12), a lifting motor (13), a transmission shaft (14), a transmission gear (15) and a driven gear (16), wherein the lifting frame (12) is located on one side of the advancing direction of the horizontal moving frame (9), the lifting frame (12) is in sliding connection with the horizontal moving frame (9) along the vertical direction, the transmission shaft (14) is in matched connection with the lifting frame (12) through a bearing along the length direction of the lifting frame (12), the transmission gear (15) is arranged in the middle of the transmission shaft (14), the lifting motor (13) is fixed on the lifting frame (12), and the transmission end of the lifting motor (13) is meshed with the transmission gear (15) through a gear; driven gear (16) are fixed at the both ends of transmission shaft (14), and horizontal migration frame (9) are in the one side setting that is close to lift frame (12) with driven gear (16) complex rack (17), the teeth of a cogwheel and the meshing of rack (17) of driven gear (16).

6. The refrigerator lift truck truss robot system of claim 5, wherein: and two ends of the lifting frame (12) along the length direction are provided with anti-collision buffers (33).

7. The refrigerator lift truck truss robot system of claim 1, wherein: y axle removes subassembly (5) and includes carriage (18), second driving motor (19), carriage (18) set up on lifting frame (12), lifting frame (12) set up slide rail (20) along length direction, carriage (18) are connected with slide rail (20) cooperation, second driving motor (19) are fixed on carriage (18), set up driving rack (21) on lifting frame (12), driving rack (21) set up along the length direction of lifting frame (12), the transmission end of second driving motor (19) is connected with driving rack (21) through the gear, lifting frame (12) set up in the below of slide rail (20) and connect oil groove (34).

8. The refrigerator lift truck truss robot system of claim 1, wherein: the R-axis rotating assembly (7) comprises a rotating frame (22) and a third driving motor (23), the rotating frame (22) is arranged below the sliding frame (18), the top of the rotating frame (22) is rotatably connected with the sliding frame (18), the third driving motor (23) is fixed on the sliding frame (18), the transmission end of the third driving motor (23) is vertically downward, the transmission end of the third driving motor (23) is connected with the rotating frame (22), and the clamp (8) is fixed on the rotating frame (22).