CN113460646A

CN113460646A - Flexible automatic loading and unloading system

Info

Publication number: CN113460646A
Application number: CN202110637687.XA
Authority: CN
Inventors: 刘松言; 周涌
Original assignee: China Tobacco Logistics Technology Co ltd
Current assignee: China Tobacco Logistics Technology Co ltd
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2021-10-01

Abstract

The invention relates to a flexible automatic loading and unloading system which comprises a mobile robot, a grabbing device, a yaw and pitch adjusting mechanism, a belt conveying line, a universal telescopic conveying line and a rotary and lifting front-back distance compensating mechanism, wherein the universal telescopic conveying line is assembled on the mobile robot, the conveying direction of the universal telescopic conveying line is along the front-back direction, the belt conveying line is arranged in front of the universal telescopic conveying line along the front-back direction, the rear end of the belt conveying line is assembled on the mobile robot through the rotary and lifting front-back distance compensating mechanism, the conveying surface of the universal telescopic conveying line can be stretched back and forth to be close to the rear end of the conveying surface of the belt conveying line, the grabbing device is arranged at the front end of the belt conveying line, and the yaw and pitch adjusting mechanism is assembled on a frame body of the belt conveying line and connected with the grabbing device. The advantages are that: the structure is simple, the control is easy, the ergonomics and the productivity are improved, the freight transportation and labor cost are reduced, and the intelligent logistics building platform can provide beneficial inspiration and reference for promoting intelligent logistics building.

Description

Flexible automatic loading and unloading system

Technical Field

The invention relates to the technical field of warehouse logistics, in particular to a flexible automatic loading and unloading system.

Background

The material handling mainly relies on the manual work to accomplish in trades such as tobacco, electricity merchant, medicine, food, because the transport environment is accomplished in the container basically, and the environment work in summer is hot and cold with winter to and intensity of labour is higher, causes the enterprise to recruit workers hard, the recruitment is difficult, it is more difficult to stay the people, for reducing intensity of labour and filling technical blank, requires that logistics equipment degree of automation is higher, efficiency is higher, the management is more intelligent. Therefore, a flexible auto-loading and unloading system is an indispensable product in the intelligent development.

Disclosure of Invention

The invention aims to provide a flexible automatic loading and unloading system, which effectively overcomes the defects of the prior art.

The technical scheme for solving the technical problems is as follows:

a flexible automatic loading and unloading system comprises a mobile robot, a gripping device, a yawing and pitching adjusting mechanism, a belt conveying line, a universal telescopic conveying line and a slewing and lifting front-rear distance compensating mechanism, wherein the universal telescopic conveying line is assembled on the mobile robot, the conveying direction of the universal telescopic conveyor line is along the front-back direction, the belt conveyor line is arranged in front of the universal telescopic conveyor line along the front-back direction, the rear end of the lifting device is assembled on the mobile robot through the rotating and lifting front-rear distance compensation mechanism, the conveying surface of the universal telescopic conveying line can be stretched back and forth to be close to the rear end of the conveying surface of the belt conveying line, the gripping device is arranged at the front end of the belt conveying line, the yawing and pitching adjusting mechanism is assembled on a frame body of the belt conveying line and is connected with the gripping device, the gripping device is used for driving the gripping device to swing up and down and two side directions relative to the conveying surface of the belt conveying line.

On the basis of the technical scheme, the invention can be further improved as follows.

Further, the yaw and pitch adjusting mechanism comprises a rotating shaft, a rotary driving assembly and a yaw swing driving assembly, wherein the rotating shaft is transversely and rotatably assembled at one end of the frame body of the belt conveying line, the rotary driving assembly is assembled on the frame body of the belt conveying line and is in transmission connection with the rotating shaft, the yaw swing driving assembly is assembled on the rotating shaft and is connected with one end of the grabbing device, the rotary driving assembly is used for driving the rotating shaft to rotate, and then the yaw swing driving assembly drives the grabbing device to swing up and down corresponding to the conveying surface of the belt conveying line so as to adjust the pitch angle of the grabbing device, and the yaw swing driving assembly is used for driving the grabbing device to swing up and down corresponding to the conveying surface of the belt conveying line.

Further, the rotary driving assembly comprises a main transmission shaft, a first rotary power device, a first synchronous belt wheel and a first synchronous belt, the main transmission shaft is transversely and rotatably assembled in the frame body of the belt conveying line, two ends of the main transmission shaft and two ends of the rotating shaft respectively extend to the outer portions of two sides of the frame body of the belt conveying line, the two ends of the main transmission shaft and the two ends of the rotating shaft are respectively provided with the first synchronous belt wheel, the first synchronous belt wheel is respectively wound on the first synchronous belt wheel on two sides of the belt conveying line, and the first rotary power device is assembled in the frame body of the belt conveying line and is in transmission connection with the main transmission shaft and used for driving the main transmission shaft to rotate.

Further, the yaw swing driving assembly comprises a fixed block, two bevel gears and a rotary driving assembly, the rotating shafts are arranged in two sections, the two sections of the rotating shafts are coaxially arranged and respectively transversely and rotatably assembled on two sides of one end of the frame body of the belt conveying line, the fixed block is fixed between the two rotating shafts, the fixed block, the three sections of the rotating shafts are fixedly connected with each other, one bevel gear is coaxially and rotatably assembled on any section of the rotating shaft, the other bevel gear is rotatably assembled at one end of the fixed block through a rotating pin, tooth surfaces of the two bevel gears are mutually meshed, the rotating pin penetrates through the other end of the fixed block and is fixedly connected with one end of the grabbing device, the rotary driving assembly is assembled in the frame body of the belt conveying line and is in transmission connection with one bevel gear to drive the bevel gear to rotate, thereby driving another bevel gear to rotate so as to realize the swinging and rotating of the gripping device relative to the two side directions of the conveying surface of the belt conveying line.

Further, the rotary driving assembly comprises a second rotary power device, two second synchronous belts and a second synchronous belt wheel, wherein one of the second synchronous belt wheels is coaxially and rotatably assembled on one section of the rotating shaft and fixedly connected with the end face of one of the bevel gears, the second rotary power device is assembled in a frame body of the belt conveying line and is in transmission connection with the other second synchronous belt wheel for driving the second synchronous belt wheels to rotate, and the second synchronous belt is wound outside the two second synchronous belt wheels.

Furthermore, above-mentioned universal telescopic transfer chain includes two belt conveyors and belt conveyor, and above-mentioned two belt conveyor assembles on above-mentioned mobile robot along the fore-and-aft direction, and gliding assembly is on above-mentioned two belt conveyor's support body around the above-mentioned belt conveyor can to be located between two conveyor belts, and above-mentioned belt conveyor and two belt conveyor's transport surface parallel and level, the support body front end of above-mentioned belt conveyor passes through universal rolling bearing and the rear end swing joint of above-mentioned belt conveyor support body.

Further, the swing and lift fore-and-aft distance compensation mechanism comprises a swing device, a fore-and-aft swing adjustment assembly, a pitching adjustment assembly, a front connecting piece and a rear connecting piece, wherein the fore-and-aft swing adjustment assembly is assembled behind the upper portion of the swing device, the pitching adjustment assembly is assembled in front of the upper portion of the swing device, the fore-and-aft swing adjustment assembly is in transmission connection with the front connecting piece and is used for driving the front connecting piece to swing forwards and backwards, the pitching adjustment assembly is in transmission connection with the rear connecting piece through a swing arm movably connected with the pitching adjustment assembly and is used for driving the swing arm and the rear connecting piece to swing upwards and downwards, the swing device is assembled on the mobile robot and is located in front of the universal telescopic conveying line, and the front connecting piece and the rear connecting piece are respectively connected with the lower portion of the rear end of the frame body of the belt conveying line.

The invention has the beneficial effects that: the platform has the advantages of filling up the blank of a platform carrying technology, being simple in structure and easy to control, improving the ergonomics and the productivity, reducing the freight and labor costs, and providing beneficial inspiration and reference for promoting the construction of intelligent logistics.

Drawings

FIG. 1 is a first view of the flexible robotic handling system of the present invention in use for handling cargo;

FIG. 2 is a second view of the flexible robotic handling system of the present invention in use for handling cargo;

FIG. 3 is a schematic view of the flexible auto-loading system of the present invention;

FIG. 4 is a schematic view of the structure of the yaw and pitch adjusting mechanism of the flexible auto-loading and unloading system of the present invention cooperating with the belt conveyor line and the gripping device;

FIG. 5 is a schematic view of a portion of the yaw and pitch adjusting mechanism of the flexible auto-control handling system of the present invention engaged with a belt conveyor line and a gripper;

FIG. 6 is a schematic view of a first rotary power unit of the flexible auto-loading/unloading system of the present invention;

FIG. 7 is a schematic view of a portion of the yaw and pitch adjustment mechanism of the flexible auto-control handling system of the present invention;

FIG. 8 is a schematic view of a guide bar mounting bracket of the flexible auto-loading/unloading system of the present invention;

FIG. 9 is a schematic view of the structure of the universal telescopic conveyor line in the flexible auto-loading and unloading system of the present invention;

FIG. 10 is a schematic structural diagram of a distance compensation mechanism before and after rotation and lifting in the flexible auto-loading and unloading system of the present invention.

FIG. 11 is a schematic view of the structure of the rotary and lifting distance compensation mechanism of the flexible auto-loading and unloading system of the present invention cooperating with a belt conveyor line;

FIG. 12 is a schematic structural diagram of a swing driving apparatus in the flexible auto-loading/unloading system according to the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1. a mobile robot; 2. a gripping device; 3. a yaw and pitch adjustment mechanism; 4. a belt conveyor line; 5. a universal telescopic conveyor line; 31. a rotating shaft; 41. a guide bar; 42. a power-assisted shaft; 51. a double belt conveyor; 52. a belt conveyor; 61. a turning device; 62. the front and back swing adjusting component; 63. a pitch adjustment assembly; 64. a front connector; 65. a rear connector; 66. swinging arms; 321. a main drive shaft; 322. a first rotary power unit; 323. a first timing pulley; 324. a first synchronization belt; 331. a fixed block; 332. a bevel gear; 521. a universal rotational bearing; 611. a slewing bearing; 612. mounting a plate; 613. a rotary gear; 614. a rotation driving device; 621. a front rocker and a rear rocker; 622. a front-rear distance compensation link; 623. a front and rear swinging piece; 624. a front and rear swing driving device; 631. a pitch adjustment motor; 632. a pitching speed reducer; 633. a rotating arm; 3331. a second rotary power unit; 3332. a second synchronous belt; 3333. a second timing pulley; 6141. a drive motor; 6142. a speed reducer; 6241. swinging the motor; 6242. swing speed reducer.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

Example 1

As shown in fig. 1, 2 and 3, the flexible automatic loading and unloading system of the present embodiment includes a mobile robot 1, a gripping device 2, a yaw and pitch adjusting mechanism 3, a belt conveyor line 4, a universal telescopic conveyor line 5 and a rotation and elevation fore-and-aft distance compensating mechanism, wherein the universal telescopic conveyor line 5 is mounted on the mobile robot 1 with the conveying direction along the fore-and-aft direction, the belt conveyor line 4 is disposed in front of the universal telescopic conveyor line 5 with the fore-and-aft direction, the rear end of the belt conveyor line is mounted on the mobile robot 1 through the rotation and elevation fore-and-aft distance compensating mechanism, the conveying surface of the universal telescopic conveyor line 5 can be extended and retracted fore-and-aft to be close to the rear end of the conveying surface of the belt conveyor line 4, the gripping device 2 is disposed at the front end of the belt conveyor line 4, the yaw and pitch adjusting mechanism 3 is mounted on the frame body of the belt conveyor line 4, and is connected with the gripping device 2 for driving the gripping device 2 to swing up and down and two side directions relative to the conveying surface of the belt conveyor line 4.

In the practical use process, each component in this embodiment is connected to the control system of the mobile robot 1, 3D visual scanning is configured on the mobile robot 1, information such as the distance from a container or a front row of stacked goods, the size, the gap between the container and the like can be scanned, the coordinates of the container are transmitted to the industrial personal computer of the control system of the mobile robot 1 by using a visual algorithm, the industrial personal computer transmits the information of the container to the motion control assembly required by the non-marking mechanical arm composed of the yaw, pitch, slewing, lifting and back-and-forth distance compensation function mechanisms, the motion control is provided to the motor according to the information provided by the industrial personal computer, so as to realize the operation of the structure, specifically, the gripping device 2 is the prior art, the patent technology of application number "2020115800490" is adopted, one end (the end without a sucker component) of the frame body of the device is in transmission connection with the yaw and pitch adjustment mechanism 3, the unloading process is as follows:

when unloading, the mobile robot 1 moves on a platform to a position with a proper distance from goods and stops, then the rotary and lifting front and rear distance compensation mechanisms are controlled to adjust the pitch angle of the conveying surface of the belt conveying line 4 according to the scanned orientation of the goods to be unloaded, so that the gripping device 2 moves to be close to the layer to be unloaded, the yaw and pitch adjustment mechanisms 3 are matched to flexibly adjust the pitch angle of the gripping device 2 and the swing angle towards the two sides of the belt conveying line 4, thereby accurately moving to the rear of the goods to be unloaded, then the goods are obtained by the gripping device 2, are conveyed to the universal telescopic conveying line 5 along the belt conveying line 4, and then are conveyed by other conveying lines butted with the universal telescopic conveying line 5, the loading process is reversely operated, the whole device fills up the blank of platform conveying technology, the structure is simple, the control is easy, and the ergonomics and the productivity are improved, the freight transportation and labor cost are reduced, and beneficial inspiration and reference can be provided for promoting the construction of intelligent logistics.

It should be noted that: when the goods are actually loaded and unloaded, the universal telescopic conveying line 5 moves along with the belt conveying line 4, and ensures that the conveying surface of the universal telescopic conveying line is always close to and is in butt joint with the rear end of the conveying surface of the belt conveying line 4.

Example 2

As shown in fig. 4 and 5, in the embodiment 1, the yaw and pitch adjusting mechanism 3 includes a rotating shaft 31, a rotary drive assembly and a yaw and yaw drive assembly, the rotating shaft 31 is transversely and rotatably assembled at one end of the frame body of the belt conveyor line 4, the rotary driving assembly is assembled on the frame body of the belt conveyor line 4, and is connected with the rotating shaft 31 in a transmission way, the yaw swing driving component is assembled on the rotating shaft 31, and is connected with one end of the gripping device 2, the rotary driving component is used for driving the rotating shaft 31 to rotate, and then the yaw swing driving component drives the gripping device 2 to swing up and down corresponding to the conveying surface of the belt conveying line 4, so as to adjust the pitch angle of the gripping device 2, the yaw swing driving assembly is used for driving the gripping device 2 to swing corresponding to the two side directions of the conveying surface of the belt conveyor line 4.

In this embodiment, when the rotation driving assembly drives the rotation shaft 31 to rotate, the yaw swing driving assembly and the gripping device 2 can be driven to swing up and down, so as to adjust the pitch angle of the conveying surface of the gripping device 2, and when the swing angles of the two sides need to be adjusted, the gripping device 2 can be driven to swing towards the two sides through the yaw swing driving assembly, and certainly, the swing adjustment of the two directions can be synchronously performed.

Specifically, as shown in fig. 6 and 7, the rotary driving assembly includes a main transmission shaft 321, a first rotary power device 322, a first synchronous pulley 323 and a first synchronous belt 324, the main transmission shaft 321 is transversely and rotatably assembled in the frame of the belt transmission line 4, two ends of the main transmission shaft 321 and two ends of the rotating shaft 31 respectively extend to two outer sides of the frame of the belt transmission line 4, the first synchronous pulley 323 is respectively assembled at two ends of the main transmission shaft and the rotating shaft, the first synchronous belt 324 is respectively wound around the first synchronous pulley 323 at two sides of the belt transmission line 4, and the first rotary power device 322 is assembled in the frame of the belt transmission line 4 and is in transmission connection with the main transmission shaft 321 for driving the main transmission shaft 321 to rotate.

In this scheme, first rotary power device 322 orders about main drive shaft 321 and the first synchronous pulley 323 at both ends is rotatory to it is rotatory to drive pivot 31 through first synchronous belt 324, and then realizes the regulation of 2 every single move angles of grabbing device, and whole power transport structural design is reasonable, and power take off is steady, and the regulation of every single move angle is more smooth and easy, nimble.

It should be noted that: as shown in fig. 6, generally, the first rotary power device 322 adopts a combination member of a motor and a speed reducer, both of which are assembled on the frame body of the belt conveying line 4, the speed reducer is a dual-shaft (coaxial) output, the main transmission shafts 321 are provided in two sections, which are coaxially arranged, and rotatably installed on both sides of the frame body of the belt conveying line 4, and the two sections of the main transmission shafts 321 are respectively in one-to-one transmission connection with the dual shafts of the ferment device.

As a preferred embodiment, as shown in fig. 7, the yaw swing driving assembly includes a fixed block 331, two bevel gears 332 and a rotation driving assembly, the rotating shaft 31 is provided in two segments, the two segments of the rotating shaft 31 are coaxially disposed, and are respectively transversely and rotatably mounted on two sides of one end of the frame body of the belt conveyor line 4, the fixed block 331 is fixed between the two rotating shafts 31, and the three segments are fixedly connected to each other, one of the bevel gears 332 is coaxially and rotatably mounted on any one segment of the rotating shaft 31, the other bevel gear 332 is rotatably mounted on one end of the fixed block 331 by a rotating pin, tooth surfaces of the two bevel gears 332 are engaged with each other, the rotating pin penetrates through the other end of the fixed block 331 and is fixedly connected to one end of the gripping device 2, the rotation driving assembly is mounted in the frame body of the belt conveyor line 4, and is in transmission connection with one of the bevel gears 332, and is used for driving the bevel gear 332 to rotate, so as to drive the other bevel gear 332 to rotate, thereby realizing the bilateral azimuth swing of the gripping device 2 relative to the conveying surface of the belt conveying line 4.

In this embodiment, the rotation driving assembly drives one bevel gear 332 to rotate, so as to drive the other bevel gear 332 to link, and finally, the two sides of the grabbing device 2 are swung and rotated through the rotating pin connected with the grabbing device 2.

More specifically, the rotary driving assembly includes a second rotary power device 3331, two second synchronous belts 3332 and a second synchronous pulley 3333, wherein one of the second synchronous pulleys 3333 is coaxially and rotatably mounted on one of the rotating shafts 31 and is fixedly connected to an end surface of one of the bevel gears 332, the second rotary power device 3331 is mounted in a frame of the belt conveyor line 4 and is drivingly connected to the other second synchronous pulley 3333 for driving the second synchronous pulley 3333 to rotate, and the second synchronous belts 3332 are wound around the two second synchronous pulleys 3333.

In this scheme, the second rotary power device 3331 drives the second synchronous pulley 3333 and the second synchronous belt 3332 to operate, so as to drive the corresponding bevel gear 332 to rotate, and finally, the linkage of the gripping device 2 is realized, and the power output is relatively stable.

In general, the second rotary power unit 3331 may be a combination of a motor and a speed reducer, and the output shaft of the speed reducer may be coaxially connected to the corresponding second synchronous pulley 3333, so that the rotational speed can be adjusted.

Preferably, guide bars 41 are respectively attached to both sides of the upper portion of the frame body of the belt conveyor line 4 in the longitudinal direction of the conveying surface thereof.

In this scheme, the transport face of both sides guide bar 41 cooperation belt conveyor line 4 can force the goods to remove along the transport face between both sides guide bar 41 and carry, prevents that the goods from dropping from the side, and the goods is carried safelyr.

More specifically, a plurality of brackets are disposed on the guide bar 41 along the length direction thereof, and the guide bar 41 is assembled and connected with both sides of the frame body of the belt conveyor line 4 through the brackets.

As shown in fig. 8, the support generally includes a main support a vertically fixed on the corresponding side of the frame body of the belt conveyor line 4, and a sub-support b transversely assembled on the upper end of the main support a, the guide rods 41 are clamped with the corresponding embedded blocks on the sub-support b, and the sub-support b can adjust the transverse assembling distance, so as to adjust the distance between the guide rods 41 on both sides.

In a preferred embodiment, an auxiliary shaft 42 is rotatably mounted on each of both sides of one end of the frame of the belt conveyor 4, the auxiliary shaft 42 is coupled to the power mechanism of the belt conveyor 4 in a driving manner to be interlocked, and an upper portion of the auxiliary shaft 42 is flush with the conveying surface of the belt conveyor 4.

In this embodiment, the design of the auxiliary shaft 42 makes up for the gap between one end of the conveying surface of the belt conveyor line 4 and the conveying surface of the gripping device 2, and ensures that goods can be smoothly conveyed between the belt conveyor line 4 and the gripping device 2.

It should be added that: both ends of the rod shaft at one end of the belt conveying line 4 and one end of the two booster shafts 42 which are far away from each other all extend to the outside of two sides of the frame body of the belt conveying line 4, and the two ends of the rod shaft are respectively provided with a synchronous belt wheel which is surrounded by a synchronous belt, so that the linkage of the booster shafts 42 and the rod shaft of the belt conveying line 4 is realized, and the power of the adaptive arrangement is not additionally needed.

Example 3

In embodiment 1, as shown in fig. 9, the universal telescopic conveyor line 5 includes a double belt conveyor 51 and a belt conveyor 52, the double belt conveyor 51 is mounted on the mobile robot 1 in the front-back direction, the belt conveyor 52 is mounted on a frame body of the double belt conveyor 51 in a front-back sliding manner and is located between the two conveyor belts, the belt conveyor 52 is flush with the conveying surfaces of the double belt conveyor 51, and the front end of the frame body of the belt conveyor 52 is movably connected to the rear end of the frame body of the belt conveyor line 4 through a universal pivot bearing 521.

In this embodiment, the conveying surface of the double belt conveyors 51 corresponding to the conveying surface of the belt conveyor 52 can be moved in a front-back telescopic manner, and the belt conveyor 52 is movably connected with the belt conveyor line 4 through the universal rotating bearing 521, so that the belt conveyor line 4 can be moved and moved by closely following the movement of the conveying surface of the belt conveyor line 4 when the front and back adjustment and the pitch angle fine adjustment of the belt conveyor line 4 are performed, and the two conveying surfaces are ensured to be always in butt joint, so that goods can smoothly pass through the joint when being transported.

Example 4

As shown in fig. 10, in embodiments 1 to 3, the swing and lift fore-and-aft distance compensation mechanism includes a swing device 6, a fore-and-aft swing adjustment assembly 62, a pitch adjustment assembly 63, a front connection member 64, and a rear connection member 65, the fore-and-aft swing adjustment assembly 62 is mounted behind the upper portion of the swing device 6, the pitch adjustment assembly 63 is mounted in front of the upper portion of the swing device 6, the fore-and-aft swing adjustment assembly 62 is connected to the front connection member 64 in a transmission manner for driving the front connection member 64 to swing back and forth, the pitch adjustment assembly 63 is connected to the rear connection member 65 in a transmission manner through a swing arm 66 movably connected thereto for driving the swing arm 66 and the rear connection member 65 to swing up and down, the swing device 6 is mounted on the mobile robot 1 and located in front of the telescopic universal conveyor line 5, the front and

rear connectors

64 and 65 are respectively connected to the lower portion of the rear end of the frame body of the belt conveyor 4.

The using process is as follows:

with reference to fig. 11, the mechanism generally cooperates with the belt conveyor line 4 and the gripping device 2, the gripping device 2 is assembled at the front end of the belt conveyor line 4 for loading and unloading goods, the goods are transported to the rear side through the gripping device 2, the goods are loaded and unloaded, in the process, the whole mechanism can be controlled to rotate through the rotating device 61, that is, the belt conveyor line 4 and the gripping device 2 can horizontally swing (rotate), the belt conveyor line 4 and the gripping device 2 can be driven to extend forwards or retract backwards through the front-rear swing adjusting component 62, the front-rear position of the gripping point of the gripping device 2 can be adjusted, the integral pitching angle of the belt conveyor line 4 can be adjusted through the pitching adjusting component 63, that is, the upper-lower position of the gripping point of the gripping device 2 can be adjusted, and the horizontal rotation, the loading and unloading of the belt conveyor line 4 and the gripping device 2 can be realized, The front-back distance compensation and the integral lifting movement are realized, the process is stable and quick, and the flexibility of a loading and unloading system is effectively improved.

In this embodiment, the lower end of the frame body of the belt conveying line 4 can be additionally provided with a telescopic rod (an air spring, a hydraulic rod, etc., and c is designated in the figure) movably connected with the lower end, and the telescopic rod is arranged between the front and back swing adjusting component 62 and the pitching adjusting component 63 and is connected with the upper part of the rotating device 61, so that the structure of the whole mechanism is more stable, and the adjustment of the conveying line is more stable.

As a preferred embodiment, as shown in fig. 10, the slewing device 61 includes a slewing bearing 611, a mounting plate 612, a slewing gear 613, and a slewing drive device 614, wherein the mounting plate 612 is horizontally disposed, the slewing bearing 611 is mounted on a lower end of the mounting plate 612, a gear ring of the slewing bearing 611 is connected to a lower end of the mounting plate 612, the slewing gear 613 is engaged with the gear ring of the slewing bearing 611, the slewing drive device 614 is mounted on the mounting plate 612, a driving end of the slewing drive device passes through the mounting plate 612 and is in transmission connection with the slewing gear 613, and the slewing drive device 614 is configured to rotate the slewing gear 613, so that the gear ring of the slewing bearing 611 is driven to rotate the mounting plate 612.

In this embodiment, the rotation driving device 614 drives the rotation gear 613 to rotate, and then drives the gear ring of the rotation support 611 to rotate, so as to drive the mounting plate 612, the front-back swing adjusting assembly 62 and the pitching adjusting assembly 63 to swing horizontally, and finally realize the adjustment of the drop point directions of the conveying line and the gripping device.

Preferably, as shown in fig. 12, the rotation driving device 614 includes a driving motor 6141 and a speed reducer 6142 respectively mounted on the upper portion of the mounting plate 612, a motor shaft of the driving motor 6141 is in transmission connection with an input shaft of the speed reducer 6142, and an output shaft of the speed reducer 6142 vertically penetrates through the mounting plate 612 and is coaxially connected with the rotation gear 613.

In this scheme, the reducer 6142 is used to adjust the rotation speed of the motor shaft of the driving motor 6141, that is, the rotation speed of the rotating gear 613 is adjusted, so as to adjust the operating parameters of the rotating device 61.

In a preferred embodiment, the front-rear swinging adjusting assembly 62 includes a front-rear rocker 621, a front-rear distance compensating link 622, a front-rear swinging member 623, and a front-rear swinging driving device 624, wherein the front-rear rocker 621 is vertically disposed, a lower end of the front-rear rocker 621 is rotatably connected to an upper end of the mounting plate 612, the front connecting member 64 is mounted to an upper end of the front-rear rocker 621, the front-rear swinging member 623 is vertically disposed behind the front-rear rocker 621, a lower end of the front-rear swinging member 623 is rotatably connected to an upper end of the mounting plate 612, the front-rear distance compensating link 622 is horizontally disposed, one end of the front-rear distance compensating link 622 is rotatably connected to an upper end of the front-rear swinging member 623, the other end of the front-rear rocker 621 is movably connected to a rear end of the front-rear swinging member 623, and the front-rear swinging driving device 624 is drivingly connected to the front-rear swinging member 623 for driving the front-rear swinging member 623.

In this embodiment, the connection points at the two ends of the front-rear distance compensation connecting rod 622, the connection point at the lower end of the front-rear swinging piece 623 and the connection point at the lower end of the front-rear rocker 621 are sequentially connected to form a parallelogram structure, the front-rear swinging piece 623 is driven to rotate by the front-rear swinging driving device 624, and the front-rear swinging of the front-rear rocker 621 can be realized.

Preferably, the front and rear swinging member 623 is a crank, the lower end of which is provided with a crank connecting sleeve, the crank connecting sleeve is rotatably connected with the connecting base adapted to the mounting plate 612 through a connecting shaft passing through the crank connecting sleeve, one end of the front and rear distance compensating connecting rod 622 is provided with a shaft hole passing through the crank connecting sleeve in a transverse direction, and a crankshaft at the upper part of the crank passes through the shaft hole.

In the scheme, the crank is of a structure with a large lower part and a small upper part, the large head is rotatably connected with the mounting plate 612, the small head is rotatably connected with the corresponding end of the front-rear distance compensation connecting rod 622, the connection between the structures is more stable, and good front-rear swinging rotation is realized.

Preferably, the front and rear rockers 621 have a mounting seat at the rear end thereof, a transverse connecting shaft is provided in the mounting seat, and the other end of the front and rear distance compensating link 622 is provided with a mounting hole fitted around the connecting shaft.

Preferably, the forward and backward swinging driving device 624 includes a swinging motor 6241 and a swinging speed reducer 6242 respectively mounted on the upper portion of the mounting plate 612, a motor shaft of the swinging motor 6241 is in transmission connection with an input shaft of the swinging speed reducer 6242, and an output shaft of the swinging speed reducer 6242 is arranged in a transverse direction and is in transmission connection with a connection point between the lower end of the forward and backward swinging member 623 and the mounting plate 612.

In this scheme, the swing speed reducer 6242 is generally fixed to the mounting plate 612 through a flange plate (or a matched base), and the swing speed reducer 6242 is used to adjust the rotation speed of the motor shaft of the swing motor 6241, that is, to adjust the swing parameters of the front and rear swing member 623, so as to adjust the operation parameters of the front and rear swing adjusting assembly 62.

In a preferred embodiment, the pitch adjustment assembly 63 includes a pitch adjustment motor 631, a pitch reducer 632, and a pivot arm 633, the pitch adjustment motor 631 and the pitch reducer 632 are respectively mounted on the front portion of the mounting plate 612, a motor shaft of the pitch adjustment motor 631 is in transmission connection with an input shaft of the pitch reducer 632, the pivot arm 633 is disposed in front and rear, a rear end thereof is in transmission connection with an output shaft of the pitch reducer 632, and a front end thereof is in movable pivot connection with an end of the swing arm 66 away from the rear connector 65.

In this embodiment, the pitch reducer 632 is used to adjust the rotation speed of the motor shaft of the pitch adjusting motor 631, that is, to adjust the swing speed of the rotating arm 633, so as to adjust the operating parameters of the pitch adjusting assembly 63.

In this embodiment, the front connecting member 64 and the rear connecting member 65 are connected to the lower portion of the conveyor line frame body by using a conventional connecting seat.

It should be added that: when the front swing adjusting assembly 62 drives the conveying line to move back and forth, the swing arm 66 is driven to swing back and forth, the rotating arm 633 is fixed, and when the pitching adjusting assembly 63 adjusts the pitching angle of the conveying line, the swing arm 66 and the rotating arm 633 are linked.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A flexible automatic loading and unloading system is characterized in that: comprises a mobile robot (1), a gripping device (2), a yawing and pitching adjusting mechanism (3), a belt conveying line (4), a universal telescopic conveying line (5) and a distance compensating mechanism before and after rotation and lifting, wherein the universal telescopic conveying line (5) is assembled on the mobile robot (1), the conveying direction of the universal telescopic conveying line is along the front and back direction, the belt conveying line (4) is arranged in front of the universal telescopic conveying line (5) along the front and back direction, the rear end of the belt conveying line is assembled on the mobile robot (1) through the distance compensating mechanism before and after rotation and lifting, the conveying surface of the universal telescopic conveying line (5) can be stretched back and forth to be close to the rear end of the conveying surface of the belt conveying line (4), the gripping device (2) is arranged at the front end of the belt conveying line (4), and the yawing and pitching adjusting mechanism (3) is assembled on a frame body of the belt conveying line (4), and is connected with the gripping device (2) and used for driving the gripping device (2) to swing relative to the upper and lower directions and the two side directions of the conveying surface of the belt conveying line (4).

2. A flexible robotic handling system according to claim 1, wherein: driftage and every single move adjustment mechanism (3) are including pivot (31), rotary drive subassembly and driftage pendulum actuating assembly, the horizontal rotatable assembly of pivot (31) is in the one end tip of the support body of belt conveyor line (4), rotary drive subassembly is in on the support body of belt conveyor line (4), and with pivot (31) transmission is connected, the assembly of driftage pendulum actuating assembly is in pivot (31), and with the one end of grabbing device (2) is connected, rotary drive subassembly is used for ordering about pivot (31) is rotatory, and then passes through the drive of driftage pendulum actuating assembly grabbing device (2) are corresponding the upper and lower position of the plane of conveyance of belt conveyor line (4) is changeed, in order to adjust the every single move angle of grabbing device (2), the drive assembly of driftage pendulum actuating assembly is used for ordering about grabbing device (2) are corresponding the both sides pendulum of the plane of conveyance of belt conveyor line (4) is changeed and is changeed drive assembly .

3. A flexible robotic handling system according to claim 2, wherein: the rotary driving component comprises a main transmission shaft (321), a first rotary power device (322), a first synchronous belt wheel (323) and a first synchronous belt (324), the main transmission shaft (321) is transversely and rotatably assembled in a frame body of the belt conveying line (4), the two ends of the main transmission shaft (321) and the two ends of the rotating shaft (31) respectively extend to the outer parts of the two sides of the frame body of the belt conveying line (4), the two ends of the first synchronous belt pulley and the second synchronous belt pulley are respectively provided with the first synchronous belt pulley (323), the first synchronous belt pulley (323) at the two sides of the belt conveying line (4) is respectively surrounded by the first synchronous belt (324), the first rotary power device (322) is assembled in the frame body of the belt conveying line (4), and is in transmission connection with the main transmission shaft (321) and used for driving the main transmission shaft (321) to rotate.

4. A flexible robotic handling system according to claim 2, wherein: the yaw swing driving assembly comprises a fixed block (331), two bevel gears (332) and a rotary driving assembly, the rotary shaft (31) is divided into two sections, the two sections of the rotary shaft (31) are coaxially arranged and respectively transversely and rotatably assembled at two sides of one end of the frame body of the belt conveying line (4), the fixed block (331) is fixed between the two rotary shafts (31), the three sections of the fixed block and the rotary shaft are mutually connected and fixed, one bevel gear (332) is coaxially and rotatably assembled on any section of the rotary shaft (31), the other bevel gear (332) is rotatably assembled at one end of the fixed block (331) through a rotating pin, tooth surfaces of the two bevel gears (332) are mutually meshed, the rotating pin penetrates through the other end of the fixed block (331) and is fixedly connected with one end of the grabbing device (2), and the rotary driving assembly is assembled in the frame body of the belt conveying line (4), and the gripping device is in transmission connection with one of the bevel gears (332) and is used for driving the bevel gear (332) to rotate so as to drive the other bevel gear (332) to rotate, so that the gripping device (2) can swing and rotate relative to the two sides of the conveying surface of the belt conveying line (4).

5. The flexible robotic handling system according to claim 4, wherein: the rotary driving assembly comprises a second rotary power device (3331), two second synchronous belts (3332) and a second synchronous belt wheel (3333), wherein one of the second synchronous belt wheels (3333) is coaxially and rotatably assembled on one section of the rotating shaft (31) and is fixedly connected with the end surface of one of the bevel gears (332), the second rotary power device (3331) is assembled in the frame body of the belt conveying line (4) and is in transmission connection with the other second synchronous belt wheel (3333) for driving the second synchronous belt wheel (3333) to rotate, and the second synchronous belt (3332) is wound outside the two second synchronous belt wheels (3333).

6. A flexible robotic handling system according to claim 1, wherein: universal telescopic transfer chain (5) include two band conveyer (51) and band conveyer (52), two band conveyer (51) along the fore-and-aft direction assemble in on mobile robot (1), gliding assembly around band conveyer (52) can be in on the support body of two band conveyer (51) to be located between two conveyor belts, band conveyer (52) and the transport plane parallel and level of two band conveyer (51), the support body front end of band conveyer (52) pass through universal rolling bearing (521) with the rear end swing joint of band conveyer (4) support body.

7. A flexible robotic handling system according to any one of claims 1 to 6, wherein: the rotation and lifting front-back distance compensation mechanism comprises a rotation device (61), a front-back swing adjusting component (62), a pitching adjusting component (63), a front connecting piece (64) and a back connecting piece (65), wherein the front-back swing adjusting component (62) is assembled at the back of the upper part of the rotation device (61), the pitching adjusting component (63) is assembled in front of the upper part of the rotation device (61), the front-back swing adjusting component (62) is in transmission connection with the front connecting piece (64) and used for driving the front connecting piece (64) to swing back and forth, the pitching adjusting component (63) is in transmission connection with the back connecting piece (65) through a swing arm (66) movably connected with the pitching adjusting component and used for driving the swing arm (66) and the back connecting piece (65) to swing up and down, the rotation device (61) is assembled on the mobile robot (1), and the front connecting piece (64) and the rear connecting piece (65) are respectively connected with the lower part of the rear end of the frame body of the belt conveyor line (4).