CN113060550B - Operation method of semi-automatic blanking logistics material vehicle - Google Patents
Operation method of semi-automatic blanking logistics material vehicle Download PDFInfo
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- CN113060550B CN113060550B CN202110264715.8A CN202110264715A CN113060550B CN 113060550 B CN113060550 B CN 113060550B CN 202110264715 A CN202110264715 A CN 202110264715A CN 113060550 B CN113060550 B CN 113060550B
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- lifting frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/914—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/006—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor for stacking objects like trays, bobbins, chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B3/00—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor
- B62B3/04—Hand carts having more than one axis carrying transport wheels; Steering devices therefor; Equipment therefor involving means for grappling or securing in place objects to be carried; Loading or unloading equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62B—HAND-PROPELLED VEHICLES, e.g. HAND CARTS OR PERAMBULATORS; SLEDGES
- B62B5/00—Accessories or details specially adapted for hand carts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/56—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from inclined or vertical conveyor sections
- B65G47/57—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from inclined or vertical conveyor sections for articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
Abstract
The invention discloses an operation method of a semi-automatic blanking logistics material vehicle, wherein the material vehicle comprises a vehicle body, a loading platform, a mechanical arm, a rotating platform, a lifting mechanism and a rack transmission mechanism, the mechanical arm is mounted on the rotating platform, the lifting mechanism comprises a lifting platform, a lifting frame and a cam clamping mechanism, and the cam clamping mechanism is arranged on the lifting frame. The invention solves the problems that in the prior art, the cooperativity between lifting mechanisms for grabbing and blanking and storing goods by a manipulator is poor, and misoperation and height errors are easy to occur when the lifting mechanisms are manually controlled to reduce the height.
Description
Technical Field
The invention relates to an operation method of a semi-automatic blanking logistics material vehicle.
Background
In order to improve the efficiency of goods from top to bottom in the commodity circulation field among the prior art, can use the commodity circulation vehicle of automatic unloading to the goods with the packing stack when the unloading is good, make things convenient for follow-up material loading and deposit. The existing logistics vehicles are generally provided with a lifting mechanism at a mounting seat of a manipulator for blanking or provided with a lifting mechanism in a goods storage area of the logistics vehicles, in order to save cost and avoid blanking accidents caused by false excitation of a sensor, the existing quite a lot of logistics warehouses adopt semi-automatic blanking logistics material vehicles without sensors and controllers, automatic work is usually realized when the manipulator carries out blanking and lifts goods, an operator controls the advancing direction of the material vehicles and the working processes of switching goods taking to stacking and the like, but the existing lifting mechanisms are not provided with a control module, so that the descending height of the goods at each time is inconvenient to change according to different goods types, the goods are easy to descend to be insufficient or too low due to human negligence during artificial control, the goods stacked are easy to topple and fall when being placed, and the cooperativity is poor. And independent elevating system that sets up needs independent lift driving link moreover, leads to the cost of commodity circulation material car can't further reduce to consume more electric energy, reduced the live time after once charging.
Disclosure of Invention
The invention aims to provide a semi-automatic blanking logistics material truck, which aims to solve the problems that in the prior art, cooperativity between lifting mechanisms for grabbing blanking and storing goods by a manipulator is poor, and the lifting height is easily mistaken by manual control during blanking and stacking, so that stacked goods are easily toppled and scattered during placement.
The semi-automatic blanking logistics material vehicle comprises a vehicle body, a loading platform, a mechanical arm, a rotating platform, a lifting mechanism and a rack transmission mechanism, wherein the loading platform is installed at the top of the vehicle body through a support, the rotating platform which is driven to rotate in a reciprocating manner through a rotating motor is installed on the loading platform, the mechanical arm for clamping goods is installed on the rotating platform, the lifting mechanism is arranged beside the rotating platform and comprises a lifting platform, a lifting frame and a cam clamping mechanism, the lifting frame comprises a top plate installed on the loading platform and a lifting frame stand column connected between the top plate and the vehicle body, an object placing opening is formed in the center of the top plate, the lifting frame and the lifting platform are both connected to the lifting frame in a sliding manner, and the lifting platform is located in the lifting frame; the top of the lifting frame is blocked by the side edge of the lifting platform when the lifting frame falls, and the bottom of the lifting frame blocks the lifting platform when the lifting platform falls; the lifting frame is characterized in that a cam clamping mechanism is arranged on the lifting frame stand column, when the lifting frame is switched to a stacking state, the rotating motor rotates to pass through the rack transmission mechanism to drive the cam clamping mechanism to clamp and fix the lifting platform and separate the lifting frame to enable the lifting frame to fall, and when the lifting frame is switched to a material taking state, the rotating motor rotates reversely to pass through the rack transmission mechanism to drive the cam clamping mechanism to clamp and fix the lifting frame and separate the lifting platform to enable the lifting platform to fall.
Preferably, two ends of the lifting frame upright post are respectively connected to the top plate and the vehicle body in a rotating mode, the cam clamping mechanism comprises an upright post cam, a first clamping sleeve and a second clamping sleeve, the first clamping sleeve and the second clamping sleeve are respectively installed at the positions, connected with the lifting frame upright post, of the lifting platform and the lifting frame, clamping grooves are formed in the positions, facing the inner side of the lifting frame upright post, of the first clamping sleeve and the second clamping sleeve, the first clamping sleeve and the second clamping sleeve which are adjacent to the lifting frame upright post are arranged opposite to each other, the lifting frame upright post is a rotating shaft of the upright post cam, the upright post cam is fixedly sleeved outside the lifting frame upright post and is equal to the stroke of the lifting platform in length, the contour line of the upright post cam comprises a small-diameter part and a large-diameter part which are symmetrical in position, the small-diameter part is in clearance fit with the clamping grooves, and the large-diameter part is in interference fit with the clamping grooves; in a stacking state, the large-diameter part faces to the corresponding first clamping sleeve; and in the material taking state, the large-diameter part faces to the corresponding second clamping sleeve.
Preferably, the lifting frame comprises an upper frame plate, a lower frame plate and a vertical plate, the vertical plate is vertically fixed below the upper frame plate, the lower frame plate is in sliding connection with the vertical plate and can be locked and fixed through a locking bolt, the lifting platform is positioned between the upper frame plate and the lower frame plate, the upper frame plate is arranged on two side parts of the lifting platform in pairs and can fall onto two sides of the lifting platform, and a space for placing materials is reserved between the upper frame plate and the vertical plate.
Preferably, the lifting frame stand columns are respectively arranged at four corners of the top plate, the second clamping sleeves are respectively arranged below the upper frame plate and the lower frame plate, the upper frame plate and the lower frame plate are respectively provided with a round hole with the diameter larger than that of the large-diameter part, and the stand column cam penetrates through the round holes.
Preferably, the two sides of the lifting platform are provided with opening chutes opposite to the two clamping sleeves, one side of the first clamping sleeve, which is far away from the lifting platform upright post, is fixed with a sliding rod, the sliding rod is connected with the opening chutes in a sliding manner, a lifting platform inner cavity communicated with each opening chute is arranged in the lifting platform, the center of the lifting platform is rotationally connected with a disc positioned in the inner cavity, a pair of transverse connecting rods are symmetrically arranged in the inner cavity, the sliding rod with the same side extends into the end parts of the lifting platform inner cavity and are vertically fixed at the two ends of the transverse connecting rods on the side, guide grooves extending in the same direction are arranged in the middle of the transverse connecting rods, cylindrical pins in sliding fit with the corresponding guide grooves are symmetrically fixed on the disc, and one end of a rotating shaft fixedly connected with the center of the disc extends out of the lifting platform and is connected with a rotating handle.
Preferably, the lifting platform is connected with the top plate through a rope belt, an elastic retractor is arranged in the top plate, and the rope belt extends out of the elastic retractor and is connected to the lifting platform.
Preferably, rack gear is located the platform of going up, including carousel, horizontal slat, the rack that the symmetry set up and install the gear in each crane stand upper end, the carousel is fixed on the output shaft of rotation motor, be fixed with the drive pin on the carousel, horizontal slat center is equipped with the pin spout of syntropy extension, drive pin sliding connection be in the pin spout, horizontal slat both ends respectively with the perpendicular fixed connection of rack that corresponds, the rack inboard has tooth portion and two gear engagement transmissions with one side, be equipped with the direction inner chamber in the platform of going up, the left and right sides of direction inner chamber all with the outside sliding contact of tooth is not established to the rack.
Preferably, the pin chute is provided with an output shaft opening towards the center of the turntable for the output shaft of the rotating motor to enter, the diameter of the driving pin is larger than that of the output shaft of the rotating motor, and the width of the output shaft opening is matched with that of the output shaft of the rotating motor.
The invention has the following advantages:
according to the invention, the rack transmission mechanism is driven by the rotating motor to drive the cam clamping mechanism, so that the cooperative work of the mechanical arm rotating process and the cam clamping mechanism is realized, and the lifting platform and the lifting frame are clamped and fixed in the lifting mechanism through the cam clamping mechanism in a wheel flow manner, so that the lifting platform is fixed to bear the weight of materials when the mechanical arm discharges materials at the material placing port, and when the mechanical arm moves to the material taking state, the cam clamping mechanism cooperatively acts to loosen the lifting platform and fix the lifting frame, and the lifting platform falls and stays at the bottom of the lifting frame. Therefore, the invention not only can realize the cooperative work of the manipulator and the lifting mechanism, but also can lead the material to descend layer by layer along with the lifting platform, and the descending height is determined by the distance between the upper frame plate and the lower frame plate. The distance of layer-by-layer falling can be adjusted according to the height of the material by moving the lower frame plate. Therefore, the problems that the descending height of the lifting mechanism is easily subjected to manual error and height error due to manual operation control are solved, and stacking accidents are easily caused by mistaken touch and detection errors of the sensor when the controller judges the material lifting requirement and height are also solved.
The invention drives the vertical column of the lifting frame to rotate through the gear rack, further enables the vertical column cam to rotate, has fewer components in the cam clamping mechanism, is easy to manufacture, and can ensure that the clamping sleeve I and the clamping sleeve II can be switched between clamping fixation and loosening at any position of the materials. And the defect that the clearance between the lifting frame and the upright cam is large and the matching performance is poor is overcome through the guide vertical plate, and the stability of the lifting process of the lifting frame is effectively ensured.
Drawings
FIG. 1 is a schematic view of the present invention.
FIG. 2 is a schematic structural diagram of the cart body, the pushing mechanism and the loading platform in the present invention.
Fig. 3 is a schematic structural view of the rack gear mechanism of the present invention.
Fig. 4 is an internal sectional view of the elevating platform of the present invention.
Fig. 5 is a schematic structural view of the lifting mechanism of the present invention.
Fig. 6 is a structural view of the lifting mechanism in the stacking state when the first cargo is loaded according to the present invention.
Fig. 7 is a structural view of the lifting mechanism in the material taking state during the first loading.
Fig. 8 is a structural diagram of the lifting mechanism of the invention when the loaded material is at the lowest end.
Fig. 9 is a schematic structural view of the cam clamping mechanism.
The symbols in the drawings are: 1. the device comprises a vehicle body, 101, a support column, 102, a boss part, 103, a containing groove, 104, a recess, 2, a loading platform, 201, a turntable, 202, a driving pin, 203, a transverse lath, 204, a rack, 205, a gear, 3, a mechanical arm, 301, a rotating platform, 302, a rotating motor, 4, a lifting frame, 401, a top plate, 402, a lifting frame upright post, 403, a guide vertical plate, 404, a placing opening, 5, a lifting platform, 501, a sliding rod, 502, a transverse connecting rod, 503, a cylindrical pin, 504, a disk, 6, a lifting frame, 601, an upper frame plate, 602, a lower frame plate, 603, a vertical plate, 7, a cam clamping mechanism, 701, an upright cam, 702, a first clamping sleeve, 703, a second clamping sleeve, 8, a pushing mechanism, 801, an electric cylinder mounting plate, 802, an electric cylinder, 803, a push plate, 9, a stacking area, 901 and a stacking bottom plate.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
As shown in fig. 1-9, the invention provides a semi-automatic blanking logistics material vehicle, which comprises a vehicle body 1, an upper vehicle platform 2, a mechanical arm 3, a rotating platform 301, a lifting mechanism and a rack 204 transmission mechanism, wherein the upper vehicle platform 2 is installed at the top of the vehicle body 1 through a support 101, the rotating platform 301 which is driven to rotate in a reciprocating manner through a rotating motor 302 is installed on the upper vehicle platform 2, the mechanical arm 3 for clamping goods is installed on the rotating platform 301, the lifting mechanism is arranged beside the rotating platform 301, the lifting mechanism comprises a lifting platform 5, a lifting frame 6, a lifting frame 4 and a cam clamping mechanism 7, the lifting frame 4 comprises a top plate 401 installed on the upper vehicle platform 2 and a lifting frame upright post 402 connected between the top plate 401 and the vehicle body 1, a storage opening 404 is formed in the center of the top plate 401, the lifting frame 6 and the lifting platform 5 are both connected to the lifting frame upright post 402 in a sliding manner, and the lifting platform 5 is located in the lifting frame 6; the top of the lifting frame 6 is blocked by the side edge of the lifting platform 5 when the lifting frame 6 falls, and the bottom of the lifting frame 6 blocks the lifting platform 5 when the lifting platform falls; the lifting frame upright post 402 is provided with a cam clamping mechanism 7, when the stacking state is switched, the rotating motor 302 rotates to drive the cam clamping mechanism 7 to clamp and fix the lifting platform 5 and separate from the lifting frame 6 to enable the lifting frame 6 to fall, and when the material taking state is switched, the rotating motor 302 rotates reversely to drive the cam clamping mechanism 7 to clamp and fix the lifting frame 6 and separate from the lifting platform 5 to enable the lifting platform 5 to fall.
The two ends of the crane upright post 402 are respectively connected to the top plate 401 and the vehicle body 1 in a rotating manner, the cam clamping mechanism 7 comprises an upright post cam 701, a first clamping sleeve 702 and a second clamping sleeve 703, the first clamping sleeve 702 and the second clamping sleeve 703 are respectively installed at the positions where the lifting platform 5 and the lifting frame 6 are connected with the crane upright post 402, the first clamping sleeve 702 and the second clamping sleeve 703 are both provided with clamping grooves facing the inner side of the crane upright post 402, the first clamping sleeve 702 and the second clamping sleeve 703 at adjacent positions are oppositely arranged, the crane upright post 402 is a rotating shaft of the upright post cam 701, the upright post cam 701 is fixedly sleeved outside the upright post 402 and has the same length as the stroke of the lifting platform 5, the contour line of the upright post cam 701 comprises a small-diameter part and a large-diameter part which are symmetrical in position, the small-diameter part is in clearance fit with the clamping grooves, and the large-diameter part is in clearance fit with the clamping grooves; in the stacking state, the large-diameter part faces to the corresponding first clamping sleeve 702; in the material taking state, the large diameter part faces the corresponding second clamping sleeve 703. And the inner sides of the clamping grooves of the first clamping sleeve 702 and the second clamping sleeve 703 are provided with wear-resistant layers.
The lifting frame 6 comprises an upper frame plate 601, a lower frame plate 602 and a vertical plate 603, the vertical plate 603 is vertically fixed below the upper frame plate 601, the lower frame plate 602 is slidably connected with the vertical plate 603 and can be locked and fixed through a locking bolt, the lifting table 5 is positioned between the upper frame plate 601 and the lower frame plate 602, the upper frame plates 601 are arranged at two side parts of the lifting frame 4 in pairs and can fall onto two sides of the lifting table 5, and a space for placing materials is reserved between the upper frame plates 601.
The fixing plate used for being connected with the vertical plate 603 can be vertically welded below the lower frame plate 602, the fixing plate is located on the outer side of the clamping sleeve and is provided with a threaded hole, the vertical plate 603 is provided with a bar-shaped sliding groove in the same direction, and the locking bolt slides along the bar-shaped sliding groove and is in threaded connection with the fixing plate. The lower frame plate 602 is further provided with a through slot for the first clamping set 702 to pass through.
The crane upright posts 402 are respectively arranged at four corners of the top plate 401, the second clamping sleeves 703 are respectively arranged below the upper frame plate 601 and the lower frame plate 602, the upper frame plate 601 and the lower frame plate 602 are respectively provided with a round hole with a diameter larger than that of the large-diameter part, and the upright post cam 701 penetrates through the round holes.
Two sides of the lifting platform 5 are provided with opening sliding grooves opposite to the second clamping sleeve 703, one side of the first clamping sleeve 702, which is far away from the lifting platform upright post 402, is fixed with a sliding rod 501, the sliding rod 501 is in sliding connection with the opening sliding grooves, an inner cavity of the lifting platform 5, which is communicated with each opening sliding groove, is arranged in the lifting platform 5, the center of the lifting platform 5 is rotatably connected with a disc 504 positioned in the inner cavity, a pair of transverse connecting rods 502 are also symmetrically arranged in the inner cavity, the end parts of the sliding rods 501, which extend into the inner cavity of the lifting platform 5, at the two ends of the transverse connecting rods 502 at the side are vertically fixed, guide grooves extending in the same direction are arranged in the middle of the transverse connecting rods 502, cylindrical pins 503, which are in sliding fit with the corresponding guide grooves, are symmetrically fixed on the disc 504, and one end of a rotating shaft, which is fixedly connected with the center of the disc 504, extends out of the lifting platform 5 and is connected with a rotating handle.
In order to ensure that the dead point position disc 504 is not easy to move, a clamping groove structure matched with the cylindrical pin 503 can be arranged at the abutting position of the dead point position lower guide groove and the cylindrical pin 503, so that the probability of the cylindrical pin 503 being separated is reduced.
The lifting platform 5 is connected with the top plate 401 through a rope belt, an elastic retractor is arranged in the top plate 401, and the rope belt stretches out of the elastic retractor and is connected to the lifting platform 5. The minimum pulling force of the rope belt on the lifting platform 5 is slightly larger than the total weight of the lifting platform 5 and the lifting frame 6, and the maximum pulling force is not larger than the total weight of the lifting platform 5 after a certain amount of materials are loaded, so that the lifting platform 5 and the lifting frame 6 can be pulled to the top together by the pulling rope when the lifting platform is unloaded, and the lifting platform 5 can fall down if the clamping sleeve I702 is retracted when the lifting platform is loaded.
The rack 204 transmission mechanism is positioned in the upper vehicle platform 2 and comprises a turntable 201, a transverse lath 203, symmetrically arranged racks 204 and gears 205 arranged at the upper ends of the lifting frames 402, wherein the turntable 201 is fixed on an output shaft of the rotating motor 302, a driving pin 202 is fixed on the turntable 201, pin chutes extending in the same direction are formed in the centers of the transverse laths 203, the driving pin 202 is connected in the pin chutes in a sliding manner, two ends of the transverse lath 203 are respectively and fixedly connected with the corresponding racks 204 in a vertical manner, a tooth part is arranged on the inner side of each rack 204 and is meshed with the two gears 205 on the same side for transmission, a guide inner cavity is arranged in the upper vehicle platform 2, and the left side and the right side of the guide inner cavity are in sliding contact with the outer sides of the racks 204 without teeth.
The pin chute is provided with an output shaft opening towards the center of the turntable 201 for the output shaft of the rotating motor 302 to enter, the diameter of the driving pin 202 is larger than that of the output shaft of the rotating motor 302, and the width of the output shaft opening is matched with that of the output shaft of the rotating motor 302. Thus, after a quarter turn of the dial 201, the output shaft enters the cancellation chute from the output shaft opening without being obstructed by the transverse slats 203.
The vehicle body 1 is provided with a boss part 102 corresponding to the lifting mechanism, the height of the boss part 102 is not less than the thickness of the lifting platform 5, the vehicle body is provided with a containing groove 103 for containing the lifting platform 5 and the lower frame plate 602, and the containing groove 103 further comprises a recess 104 for containing a downward extending part of the first clamping sleeve 702, the second clamping sleeve 703 and the vertical plate 603. A pair of guide vertical plates 403 are vertically fixed between the top of the boss part 102 and the top plate 401, the guide vertical plates 403 are symmetrically arranged at the left side and the right side of the lifting frame 6, the left side and the right side of the lower frame plate 602 are in sliding contact with the inner sides of the guide vertical plates 403 to ensure stable lifting, and the lifting platform 5 keeps stable lifting through the synchronous motion of an elastic retractor to reduce shaking.
The rotating motor 302 below the manipulator 3 is located between the pillar 101 on one side and the lifting mechanism, a stacking area 9 for placing the stacking base plate 901 is reserved between the pillar 101 on the other side and the lifting mechanism, guide vertical plates 403 arranged according to the width of the material are arranged on two sides of the stacking base plate 901, and the openings at two ends of the stacking base plate 901 are used for the material to pass through. The bottom of the stacking base plate 901 may be provided with a carrying groove or a protruding strip structure for facilitating insertion and carrying of forklift attachments.
In addition, a material pushing mechanism 8 is further arranged on the support column 101, and the material pushing mechanism 8 comprises an electric cylinder mounting plate 801, an electric cylinder 802 and a push plate 803. An electric cylinder mounting plate 801 is fixed on the inner sides of a pair of pillars 101 of the pillars 101 close to the rotating motor 302, an electric cylinder 802 extending towards the stacking base plate 901 is vertically mounted on the electric cylinder mounting plate 801, a push plate 803 is vertically fixed at the extending end of the electric cylinder 802, the width of the push plate 803 is slightly smaller than the gap between the upper frame plates 601, and the extending end of the electric cylinder 802 is located at the center of the push plate 803 and is connected with the push plate 803 through a reinforcing rib.
The use process of the invention is as follows: the initial state of the logistics material vehicle is a material taking state, in the lifting mechanism, the large-diameter part of the upright column cam 701 presses the second clamping sleeve 703 to fix the lifting frame 6, and the lifting platform 5 is positioned at the bottom of the upper frame plate 601 and right below the object placing opening 404 under the action of the rope belt. The pusher 803 is adjacent to the electric cylinder 802 and the robot 3 is extended laterally in the ready-to-pick position. Before the material packaging device is started, an operator moves the lower frame plate 602 along the vertical plate 603 according to the height of the material packaging, so that the distance between the lower frame plate 602 and the upper frame plate 601 is close to the height of the material, and the lower frame plate 602 is locked and fixed. Meanwhile, the first clamping sleeve 702 is in a normal extending state and can be in clearance fit with the small-diameter part of the stand column cam 701 and can also be in interference fit with the large-diameter part.
When the semi-automatic blanking logistics material vehicle provided by the invention moves to a blanking position, an operator starts the manipulator 3 along with the arrival of the material, the manipulator 3 provided with the rotating motor 302 takes out and clamps the material according to an action sequence set by a self-contained controller, and then rotates a quarter of a circle to enter a stacking state.
Because the turntable 201 rotates synchronously with the rotating table 301, the driving pin 202 moves in an arc to drive the transverse strip 203 and the two racks 204 to move in one direction, so that the four gears 205 are driven to rotate together, and the gears 205 are all the same size and rotate for half a circle under the action of the racks 204. Thus, the column cam 701 rotates half a turn, the large diameter portion rotates to press the first clamping sleeve 702 toward the first clamping sleeve 702, and the clamping mechanism is clamped and fixed to the lifting table 5 and separated from the lifting frame 6 to drop the lifting frame 6. At this time, the manipulator 3 places the material on the lifting mechanism, and the material falls on the lifting table 5 through the storage opening 404.
The manipulator 3 rotates in the reverse direction again and returns to the material taking state, and the lateral direction stretches out of the manipulator 3 to prepare for grabbing materials. The reverse rotation of the turntable 201 also drives the transverse slats 203, the rack 204 and the gear 205 to move reversely, so that the column cam 701 reverses a half circle, the large-diameter part of the column cam is turned to the direction of the clamping sleeve two 703 again, the cam clamping mechanism 7 clamps and fixes the lifting frame 6 to be separated from the lifting platform 5, and the lifting platform 5 falls because the gravity of the lifting platform 5 filled with materials is greater than the tension of the rope belt. The lifting platform 5 is received after falling to the lower frame plate 602 and stops falling, and a space for continuously placing the materials is reserved on the lifting platform, and the manipulator 3 can be used for placing the materials in the same previous step next time.
Thereafter, the above process is repeated in the blanking process, and when the stacking state is switched, the rotating motor 302 rotates to drive the cam clamping mechanism 7 through the rack 204 transmission mechanism to clamp and fix the lifting table 5 and separate from the lifting frame 6 to allow the lifting frame 6 to fall. The lifting frame 6 falls, and the upper frame plate 601 falls to the side of the lifting table 5 to be stopped and stopped, thereby leaving a space for the next falling of the lifting table 5. When the material taking state is switched, the rotating motor 302 rotates reversely to drive the cam clamping mechanism 7 to clamp and fix the lifting frame 6 through the rack 204 transmission mechanism and separate from the lifting table 5, so that the lifting table 5 falls, and the lifting table 5 falls on the lower frame plate 602 and then continues to leave a space for placing materials on the top plate 401.
Therefore, when the lifting platform 5 is lowered to be close to the bottom, namely the lower frame plate 602 falls into the bottom of the accommodating groove 103, the lifting platform 5 is in a stacking state compressed by the upright column cam 701, the next material cannot be placed in the left space due to the fact that the material can be placed downwards, and an operator returns to a piece taking state at the manipulator 3. At this time, the electric cylinder 802 is started to push the stacked material in the lifting mechanism forward to the stacking area 9 through the push plate 803, and the rear edge of the push plate 803 does not leave the lifting table 5. When the push plate 803 is retracted out of contact with the lifting table 5, the lifting table 5 is moved up to the fixed upper frame plate 601 by the action of the webbing and the resilient retractor.
And then the rotating handle is pulled to drive the disc 504 in the lifting platform 5 to rotate, the sliding rod 501 is driven to move inwards, the first clamping sleeve 702 is retracted, the manipulator 3 and the rotating motor 302 are suspended before discharging when the next workpiece taking is switched to the stacking state, and the cam clamping mechanism 7 does not clamp the second clamping sleeve 703 at the moment, and the first clamping sleeve 702 cannot clamp the large-diameter part because the first clamping sleeve is retracted into the lifting platform 5, so that the lifting platform 5 and the lifting frame 6 are pulled to the top by the rope belt under the no-load state, namely the position under the initial state. Then, the rotating handle is reversely moved until a dead point, the first clamping sleeve 702 compresses the large-diameter part of the upright column cam 701 to realize fixation, and then the feeding and the operation of the mechanical arm 3 can be continued.
If the blanking is finished when the lifting platform 5 does not reach the bottom, in the material taking state, the first clamping sleeve 702 is retracted in the manner, so that the upright column cam 701 and the lifting platform 5 cannot be clamped and fixed in the stacking state, then the manipulator 3 is operated under the condition of no material, the manipulator 3 and the rotating motor 302 are stopped after the stacking state is switched, and the lifting platform 5 and the lifting frame 6 are dropped into the accommodating groove 103, so that the material is pushed out to the stacking area 9 in the manner. If the lifting platform 5 is high or the material cannot receive too large impact, the rotating motor 302 is repeatedly operated under the condition of no material, so that the lifting platform 5 gradually moves downwards until the lifting platform reaches the accommodating groove 103, and the material is pushed into the stacking area 9. After material taking is completed, the material is moved to a storage position of a warehouse through the logistics trolley, and stacked materials and the stacking bottom plate 901 can be taken down together by a forklift or a robot through an accessory and placed to the storage position.
While the invention has been described in connection with the drawings, it is to be understood that the invention is not limited to the precise arrangements and instrumentalities disclosed, but is intended to cover all modifications, equivalents and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. The operation method of the semi-automatic blanking logistics material vehicle is characterized in that: the material vehicle comprises a vehicle body (1), an upper vehicle platform (2), a mechanical arm (3), a rotating platform (301), a lifting mechanism and a rack (204) transmission mechanism, wherein the upper vehicle platform (2) is installed at the top of the vehicle body (1) through a support column (101), the rotating platform (301) which is driven to rotate in a reciprocating mode through a rotating motor (302) is installed on the upper vehicle platform (2), the mechanical arm (3) for clamping goods is installed on the rotating platform (301), the lifting mechanism is arranged beside the rotating platform (301), the lifting mechanism comprises a lifting platform (5), a lifting frame (6), a lifting frame (4) and a cam clamping mechanism (7), the lifting frame (4) comprises a top plate (401) installed on the upper vehicle platform (2) and a lifting frame (402) connected between the top plate (401) and the vehicle body (1), a storage opening (404) is formed in the center of the top plate (401), the lifting frame (6) and the lifting platform (5) are connected to the lifting frame (402) in a sliding mode, and the lifting frame (5) is located in the lifting frame (6); the top of the lifting frame (6) is blocked by the side edge of the lifting platform (5) when the lifting frame (6) falls, and the bottom of the lifting frame (6) blocks the lifting platform (5) when the lifting platform falls; the lifting frame upright post (402) is provided with a cam clamping mechanism (7), when the stacking state is switched, the rotating motor (302) rotates to drive the cam clamping mechanism (7) to clamp and fix the lifting platform (5) through the rack (204) transmission mechanism and separate from the lifting frame (6) to enable the lifting frame (6) to fall, when the material taking state is switched, the rotating motor (302) rotates reversely to drive the cam clamping mechanism (7) to clamp and fix the lifting frame (6) through the rack (204) transmission mechanism and separate from the lifting platform (5) to enable the lifting platform (5) to fall;
the lifting frame upright post (402) is characterized in that two ends of the lifting frame upright post (402) are respectively connected to the top plate (401) and the vehicle body (1) in a rotating mode, the cam clamping mechanism (7) comprises an upright post cam (701), a first clamping sleeve (702) and a second clamping sleeve (703), the lifting frame (5) and the lifting frame (6) are respectively provided with the first clamping sleeve (702) and the second clamping sleeve (703) at positions for connecting the lifting frame upright post (402), the first clamping sleeve (702) and the second clamping sleeve (703) are both provided with clamping grooves towards the inner side of the lifting frame upright post (402), the first clamping sleeve (702) and the second clamping sleeve (703) at adjacent positions are arranged opposite to each other, the lifting frame upright post (402) is a rotating shaft of the upright post cam (701), the upright post cam (701) is fixedly sleeved outside the lifting frame upright post (402) and has the same length with the stroke of the lifting frame upright post (5), the contour line of the upright post cam (701) comprises a small-diameter part and a large diameter part which are symmetrical in position, the small diameter part and the clamping grooves are in clearance fit with the large diameter part; in the stacking state, the large-diameter part faces to the corresponding first clamping sleeve (702); in a material taking state, the large-diameter part faces to the corresponding second clamping sleeve (703);
the lifting frame (6) comprises an upper frame plate (601), a lower frame plate (602) and vertical plates (603), the vertical plates (603) are vertically fixed below the upper frame plate (601), the lower frame plate (602) is in sliding connection with the vertical plates (603) and can be locked and fixed through locking bolts, the lifting platform (5) is positioned between the upper frame plate (601) and the lower frame plate (602), the upper frame plates (601) are arranged on two side parts of the lifting frame (4) in pairs and can fall onto two sides of the lifting platform (5), and a space for placing materials is reserved between the upper frame plates (601);
the operation method of the material trolley comprises the following specific steps:
s1: an operator moves the lower frame plate (602) along the vertical plate (603) according to the height of the outer package of the material, so that the distance between the lower frame plate (602) and the upper frame plate (601) is close to the height of the material, and then the lower frame plate (602) is locked and fixed;
s2: starting a mechanical arm (3), taking out and clamping materials by the mechanical arm (3) according to an action sequence set by a self-contained controller, rotating a motor (302) for a quarter of a turn to enter a stacking state, synchronously rotating a turntable (201) and a rotating platform (301), driving a pin (202) to move in an arc manner to drive a transverse lath (203) and two racks (204) to move towards one direction, so as to drive four gears (205) to rotate together, rotating each gear (205) for a half turn under the action of the rack (204), rotating an upright cam (701) for a half turn along with the rotation, rotating a large-diameter part of the upright cam to press a clamping sleeve (702) towards the clamping sleeve (702), clamping and fixing a lifting platform (5) to be separated from a lifting frame (6), and allowing the lifting frame (6) to fall down, wherein the mechanical arm (3) places the materials at the lifting mechanism, and the materials fall on the lifting platform (5) through a material placing port (404);
s3: when the manipulator (3) rotates reversely again and returns to a material taking state, the turntable (201) rotates reversely to drive the transverse lath (203), the rack (204) and the gear (205) to move reversely, so that the upright cam (701) rotates reversely for a half circle, the large-diameter part of the upright cam turns to the direction of the clamping sleeve II (703) again, the cam clamping mechanism (7) clamps and fixes the lifting frame (6) to be separated from the lifting platform (5), the gravity of the lifting platform (5) filled with the materials is greater than the tensile force of the rope belt, the lifting platform (5) falls down, the lifting platform (5) receives the support after falling to the lower frame plate (602) and stops falling, a space for continuously placing the materials is reserved on the lifting platform, and the manipulator (3) can be used for placing the materials in the same previous steps next time.
2. The operation method of the semi-automatic blanking logistics material vehicle of claim 1, characterized in that: the lifting frame upright posts (402) are respectively arranged at four corners of the top plate (401), the clamping sleeve II (703) is respectively arranged below the upper frame plate (601) and the lower frame plate (602), the upper frame plate (601) and the lower frame plate (602) are respectively provided with a round hole with the diameter larger than that of the large-diameter part, and the upright post cam (701) penetrates through the round holes.
3. The operation method of the semi-automatic blanking logistics material vehicle of claim 2, characterized in that: the lifting platform is characterized in that opening sliding grooves opposite to the clamping sleeve II (703) are formed in two sides of the lifting platform (5), a sliding rod (501) is fixed to one side, away from the lifting platform upright post (402), of the clamping sleeve I (702), the sliding rod (501) is connected with the opening sliding grooves in a sliding mode, an inner cavity of the lifting platform (5) communicated with the opening sliding grooves is formed in the lifting platform (5), a disc (504) located in the inner cavity is connected to the center of the lifting platform (5) in a rotating mode, a pair of transverse connecting rods (502) are symmetrically arranged in the inner cavity, the end portion, extending into the inner cavity of the lifting platform (5), of each sliding rod (501) on the same side is perpendicularly fixed to two ends of each transverse connecting rod (502) on the side, guide grooves extending in the same direction are formed in the middle of each transverse connecting rod (502), cylindrical pins (503) in sliding fit with the corresponding guide grooves are symmetrically fixed to the disc (504), and one end, fixedly connected to the center of the rotating shaft of each disc (504), extends out of the lifting platform (5) and is connected with a rotating handle.
4. The operation method of the semi-automatic blanking logistics material vehicle of claim 3, characterized in that: the lifting platform (5) is connected with the top plate (401) through a rope belt, an elastic retractor is arranged in the top plate (401), and the rope belt stretches out of the elastic retractor and is connected to the lifting platform (5).
5. The operation method of the semi-automatic blanking logistics material vehicle of claim 4, characterized in that: rack (204) drive mechanism is located ride (2), rack (204) including carousel (201), horizontal slat (203), symmetry setting and gear (205) of installing in each crane stand (402) upper end, carousel (201) are fixed on rotating the output shaft of motor (302), be fixed with drive pin (202) on carousel (201), horizontal slat (203) center is equipped with the pin spout of syntropy extension, drive pin (202) sliding connection be in the pin spout, horizontal slat (203) both ends respectively with the perpendicular fixed connection of rack (204) that corresponds, rack (204) inboard have tooth portion and two gear (205) meshing transmission with one side, be equipped with the direction inner chamber in ride (2), the left and right sides of direction inner chamber all with the outside sliding contact of tooth is not established to rack (204).
6. The operation method of the semi-automatic blanking logistics material vehicle of claim 5, wherein the operation method comprises the following steps: an output shaft opening is formed in the pin sliding groove towards the center direction of the rotary disc (201) and used for an output shaft of the rotating motor (302) to enter, the diameter of the driving pin (202) is larger than that of the output shaft of the rotating motor (302), and the width of the output shaft opening is matched with that of the output shaft of the rotating motor (302).
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| CN111003519B (en) | 2021-02-09 |
| CN111003519A (en) | 2020-04-14 |
| CN113060550A (en) | 2021-07-02 |
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