CN113830583A - Robot for loading and unloading and using method thereof - Google Patents
Robot for loading and unloading and using method thereof Download PDFInfo
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- CN113830583A CN113830583A CN202111150631.8A CN202111150631A CN113830583A CN 113830583 A CN113830583 A CN 113830583A CN 202111150631 A CN202111150631 A CN 202111150631A CN 113830583 A CN113830583 A CN 113830583A
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- fixedly connected
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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
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
- B65G67/08—Loading land vehicles using endless conveyors
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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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
- B65G15/32—Belts or like endless load-carriers made of rubber or plastics
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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
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
- B65G21/12—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of position of load-carrier or traction element as a whole
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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
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
- B65G21/14—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of length or configuration of load-carrier or traction element
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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
- B65G23/00—Driving gear for endless conveyors; Belt- or chain-tensioning arrangements
- B65G23/22—Arrangements or mountings of driving motors
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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
- B65G39/00—Rollers, e.g. drive rollers, or arrangements thereof incorporated in roller-ways or other types of mechanical conveyors
- B65G39/02—Adaptations of individual rollers and supports therefor
- B65G39/09—Arrangements of bearing or sealing means
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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 a robot for loading and unloading and a using method thereof, wherein a base is fixedly connected on the ground, the central position of the base is connected with a base plate, the upper end of the base plate is provided with an installation table board, the upper end of the installation table board is connected with a first servo motor, the output shaft of the first servo motor is connected with the base plate, the upper end of the base plate is connected with a rotating disc, a second shaft comprises a buffer cylinder and a lifting arm, the lifting arm is fixedly connected with the upper end of the rotating disc, the buffer cylinder is arranged at the position, corresponding to the lifting arm, of the upper end of the rotating disc, and the upper ends of the buffer cylinder and the lifting arm are jointly provided with a belt stretcher; the invention is suitable for loading and unloading different vehicle types and box-type vehicles, the building block type final assembly is adopted, the cost is greatly reduced, the practicability of the device is greatly improved, and the working efficiency is effectively improved.
Description
Technical Field
The invention relates to the technical field of carrying, loading and unloading, in particular to a robot for loading and unloading and a using method thereof.
Background
The movement to change the storage and support state of the "article" in the same region is called loading and unloading, the movement to change the spatial position of the "article" is called transportation, and both are called loading and unloading transportation. Sometimes or in certain instances, the singular reference to "handling" or "transporting" also encompasses the full meaning of "handling and transporting". In the habitual use, the field of logistics often refers to the whole process of loading, unloading and carrying as "cargo loading and unloading"; this overall activity is often referred to in the production art as "material handling".
At present, bagged goods or box-type goods in the logistics industry are loaded and unloaded in various forms, one is that the bagged goods or the box-type goods are loaded and unloaded in a belt transportation manual mode, and some manufacturers use loading and unloading systems, mainly adopt existing industrial robots on the existing market to move on a linear track for loading and unloading, or adopt a gantry type 4-axis or 5-axis motion system for loading and unloading. The existing system and device are single, the loading and unloading efficiency is low, and after the robot or the moving device finishes loading or unloading the goods once, the robot or the moving device again returns to grab the goods to load or unload the goods. The loaded type has restriction or single model vehicle, and the container vehicle more can't loading and unload, so the mill adopts another kind of loading and unloading car form, and the track is equipped in the bottom plate transformation in the railway carriage, and the track loading in the railway carriage is once only passed through after the pile up neatly of car outside again.
In conclusion, the existing loading and unloading system and device have poor loading flexibility and low efficiency, and the existing vehicle needs to be modified for single vehicle type. Some loading devices and systems face the side box body of the van which cannot be loaded, and due to the fact that gaps must be reserved due to equipment mechanisms, space is wasted, goods shake in a carriage during transportation, and goods damage or safety accidents can be caused.
Chinese patent CN112320393A discloses a loading and unloading system, and this patent is through loading and unloading car, transshipment device, transshipment car, fork, vertical guide rail, horizontal stand, power unit isotructure with the transshipment device as the medium of transmitting the stack between loading and unloading car and the goods conveyor, and the loading and unloading car only need do the short distance linear motion of business turn over goods railway carriage or compartment, has effectually promoted handling efficiency, but this scheme flexibility is poor, and the original vehicle must be reequiped to the face that the motorcycle type is single or must be repacking.
Chinese patent CN111573316A discloses an automatic loading and unloading system, an automatic loading and unloading method, and the system realizes the automatic loading and unloading of goods through the structures such as the automatic loading and unloading system, a goods loading plate, a submerged transfer equipment, a base, a first longitudinal conveying mechanism, a longitudinal conveying line, a transverse conveying mechanism, a support frame, etc., which is labor-saving, time-saving and reduces the logistics cost.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a modular robot system, which can be used for loading and unloading robots in brand new forms of all vehicle types including small tricycles and large container vehicles, and a using method of the device.
The invention solves the technical problems through the following technical means: a robot for loading and unloading vehicles comprises a first shaft, a second shaft, a third shaft of a belt stretching machine, a fourth shaft of the belt stretching machine, a fifth shaft, a sixth shaft and a seventh shaft, and a total 7-shaft system, wherein the first shaft comprises a base which is fixedly connected to the ground, a base plate is connected to the center of the base, an installation table board is installed at the upper end of the base plate, a first servo motor is connected to the upper end of the installation table board, an output shaft of the first servo motor is connected with the base plate, and a rotating disc is connected to the upper end of the base plate;
the second shaft comprises a second servo motor, a lifting arm and a fixed base, the second shaft is fixedly connected to the upper end of the rotary disc, the second servo motor is connected with a rotary arm through a speed reducer, the rotary arm is connected with a first seated bearing through a shaft pin, the first seated bearing is movably connected with the lifting arm, and lifting frames are mounted at the upper ends of the fixed base and the lifting arm together;
the belt stretching and contracting machine is fixedly connected to the upper end of the lifting frame and comprises a second box body, the inner cavity of the second box body is movably connected with a third shaft, the inner cavity of the third shaft is movably connected with a fourth shaft, the fourth shaft comprises a transverse plate, and the tail end of the fourth shaft is connected with a fifth shaft through the transverse plate;
the fifth shaft comprises a moving frame, the sixth shaft is connected with the moving frame, and the upper end of the sixth shaft is movably connected with the seventh shaft.
The invention can effectively adjust the direction of the device according to the actual situation by fixing the base on the ground, installing the rotary disc at the upper end of the base and adjusting the direction of the rotary disc by the servo motor, and fixing the fixed base and the servo lifting mechanism at the upper end of the rotary disc to ensure that the fixed base and the lifting frame are kept fixed, and simultaneously driving the movable bracket to longitudinally adjust the lifting frame and the belt telescopic machine by the rotating arm, wherein the belt telescopic machine comprises a third shaft and a fourth shaft which can be adjusted front and back, the fifth shaft is arranged at the foremost end of the fourth shaft to be adjusted front and back, so that the longitudinal adjustment of the sixth shaft and the left and right direction adjustment of the seventh shaft are convenient, the invention is effectively suitable for all vehicle types including box vehicles, does not need to transform the vehicles, greatly reduces the labor intensity of workers, and by replacing different terminal execution mechanisms, can the loading or unload pocket type or box goods, improve the practicality of device greatly, effectual work efficiency that has improved.
Preferably: the base is fixedly connected with the ground through a bolt;
the upper end of the base plate is connected with an installation bottom plate, the upper end of the installation bottom plate is connected with a roller bearing, and the first servo motor sequentially penetrates through the planetary reducer, the installation table board, the roller bearing and the installation bottom plate;
the mounting table is characterized in that limiting blocks are fixedly connected to the two sides of the mounting table, and a mounting hole matched with the sum of the side edge of the mounting table and the two limiting blocks is formed in the center of the rotary disc.
Preferably: the utility model discloses a rotary disc, including base, rotary disc, the upper end of base all welds all around has the holder, two and more than two bull's eyes bearings are all installed at the upper and lower both ends of holder, the inner chamber of rotary disc all gomphosis all around in the holder, and all inconsistent with a plurality of bull's eyes bearings.
Preferably: a plurality of fixed orificess have been seted up to the upper end axial symmetry of rotating disc, the lower extreme welding of first fixed baseplate has many first fixed pins with fixed orifices assorted, first fixed baseplate is through first fixed pin and rotating disc fixed connection, the first mount of first fixed baseplate's upper end fixedly connected with, the upper end both sides of first mount fixedly connected with second area seat bearing respectively, the third mount has all been welded to the terminal below both sides of lifting frame, first fixed baseplate passes two second area seat bearings simultaneously through the fixed axle and extends to the outside and third mount fixed connection.
Preferably: the upper end of the rotary disc is fixedly connected with a first mounting frame, the second servo motor is fixedly connected with an inner cavity of the mounting frame, the output end of a shaft of the second servo motor is provided with a speed reducer, the speed reducer is provided with a rotating arm, the upper end of the rotary disc is provided with a buffer cylinder, and the upper end of the buffer cylinder is fixedly connected with the rotating arm;
the second servo motor further comprises a first belt seat bearing, the front end of the rotating arm is connected with the lifting arm through the first belt seat bearing, a shaft mounting plate is fixedly connected to the upper ends of the two sides of the lifting arm, a bearing support is mounted on the outer side of the belt stretching machine and the position corresponding to the lifting arm, and the two sides of the lifting arm are connected with the bearing support through a fixed shaft penetrating through the shaft mounting plate.
Preferably: the belt stretching machine comprises a main box body, first hard rails are fixedly connected to two sides of an inner cavity of the main box body, and oblique racks are fixedly mounted on two sides of the inner cavity of the main box body, located at the upper ends of the first hard rails, respectively.
The third shaft comprises a second box body and a gear box, two groups of first side mounting plates are fixedly connected to two ends of the outer side of the second box body, two first rollers are connected to each group of first side mounting plates, each first roller is arranged diagonally, the distance between the two first rollers is matched with the height of a first hard rail, a third servo motor is fixedly connected to the rear end of the inner cavity of the second box body, the output shaft of the third servo motor is connected with the input shaft of the gear box, the output shaft at the front end of the gear box is connected with a lead screw, the left end and the right end of the gear box of the second box body are connected with transmission rods through output shafts, the tail ends of the transmission rods are connected with helical gears matched with helical racks, and second hard rails are fixedly connected to two sides of the inner cavity of the second box body;
the belt telescopic machine synchronously makes linear forward and backward movement along the box body track;
the fourth shaft comprises a third box body, two groups of second side mounting plates are mounted on two sides of the third box body, two second rollers are connected to each group of second side mounting plates, the two second rollers are arranged diagonally, the distance between the two second rollers is matched with the height of a second hard rail, and a screw nut pair matched with a screw rod is arranged at the rear end of the third box body;
and a transverse plate is fixedly connected to the lower part of the front end of the third box body, a transverse plate support is fixedly connected to the middle position of the lower end of the transverse plate, and the transverse plate support is connected with the fifth shaft through a pin shaft.
Preferably: the fifth shaft comprises a second servo electric push rod and a moving frame, one end, far away from the transverse plate support, of the second servo electric push rod is fixedly connected with the moving frame, a side plate is installed at the front end of the third box body, fifth fixing frames are fixedly connected to two ends of the inner side of the moving frame, and side installation plates are fixedly installed on one sides, far away from the two fifth fixing frames, of the two fifth fixing frames;
the two ends of the outer side of the moving frame are fixedly connected with slide rail mounting plates which are connected with the side plates in a sliding manner;
the sixth shaft comprises a third servo electric push rod and an end plate, the third servo electric push rod is obliquely arranged at the notch of the moving frame, a second joint bearing is fixedly connected to the front end of the third servo electric push rod, two slide rail seats are arranged at the lower end of the end plate, the second joint bearing is movably connected with the slide rail seats through a pin shaft, and third bearings with seats are fixedly connected to two sides of the lower end of the end plate;
the seventh shaft comprises a mounting groove, the mounting groove is fixedly mounted at the lower end of the end plate, a DD motor is mounted in an inner cavity of the mounting groove, and an output shaft of the DD motor penetrates through the end plate and extends to the upper end;
and a cross shaft is connected between the two fifth fixing frames, and the third bearings with seats are movably sleeved on the outer side of the cross shaft.
Preferably: the upper end of the end panel is movably connected with an end executing mechanism, the end executing mechanism comprises a frame body, the lower end of a bottom plate of the frame body is fixedly connected with a bottom plate flange, the bottom plate flange is fixedly connected with an output shaft of a DD (direct drive) motor, and the lower end of the frame body is provided with an arc sliding block matched with a sliding rail at the upper end of the end panel;
the end-to-end connection of framework has motorized pulley, the front end both sides of framework all are connected with the curb plate, the framework is close to one side both ends of curb plate and all has the support arm through round pin axle swing joint, all be connected with the extension spring between support arm and the curb plate jointly, two be connected with first cylinder between the support arm jointly, the front end of framework is connected with the second cylinder, the belt is cup jointed jointly in motorized pulley, the second cylinder outside.
Preferably: the second shaft further comprises a lifting mechanism, the lifting mechanism comprises a connecting rod and an ear-shaped seat, the lower end of the connecting rod is fixedly connected with an installation frame, a first servo electric push rod is installed in an inner cavity of the installation frame, the lower end of the installation frame is fixedly connected with the ear-shaped seat through a pin shaft, and the lower end of the ear-shaped seat is fixedly connected with the rotary disc;
a fourth fixing frame is welded in the middle of the tail end of the lifting frame, a first joint bearing is fixedly connected to the upper end of the connecting rod, the first joint bearing is fixedly connected with the fourth fixing frame through a pin shaft, and two sides of the tail end of the lifting frame are fixedly connected with balancing weights;
the second shaft still includes second fixed baseplate, a plurality of second fixed pins of second fixed baseplate's lower extreme fixedly connected with, second fixed baseplate passes through second fixed pin and fixed orifices fixed connection, the second mount has all been welded to the upper end both sides of second fixed baseplate, two the second mount all runs through axle mounting panel and bearing bracket fixed connection through the fixed axle.
Use of a robot for loading and unloading vehicles according to claims 1-9, characterized in that, when loading, it comprises the following steps: fixing a first shaft base on the ground, installing a rotary disc at the upper end of the first shaft, installing a second shaft at the upper end of the rotary disc, adjusting the position of the second shaft through a first servo motor, adjusting the left and right positions relative to a carriage, simultaneously connecting a belt expansion machine through a first fixing frame to keep a module stable, providing power through a second shaft servo motor or a second shaft servo electric push rod, enabling a shaft mounting plate connected with a rotating arm to drive a belt expansion machine to move longitudinally, adjusting the height positions of cargos above and below the carriage, adjusting the positions of the cargos in the front and at the back of the carriage through the expansion of a third shaft and a fourth shaft, when the cargos are conveyed to the upper end of a tail end executing mechanism by a belt, enabling the sixth shaft and the seventh shaft to leave the fourth shaft of the belt expansion machine through the adjustment of the plane rotating position of the seventh shaft, enabling the cargos to be parallel to two sides of the carriage, and enabling an end panel to move downwards under the drive of the sixth shaft, the goods slide down along the tail end executing mechanism by means of gravity and are stacked in the carriage;
when unloading, the first servo motor rotates to drive the belt telescopic machine to move to the position of the carriage, the second shaft is longitudinally adjusted to drive the belt telescopic machine to do up-and-down circular arc motion to adjust the height positions of goods above and below the carriage, the third shaft and the fourth shaft telescopically adjust the positions of the goods in front of and behind the carriage to enable the goods to be in the up-and-down height positions and the left-and-right positions of the carriage, the front-and-back positions are located at positions convenient for the tail end actuating mechanism to unload goods, the fifth shaft is initially in an extended state, the tail end actuating mechanism is adjusted to be parallel to the up-and-down positions of the goods in the carriage through a sixth shaft servo electric push rod, the seventh shaft adjusts the left-and-right positions of the tail end actuating mechanism in the carriage to be parallel to the goods, the third shaft and the fourth shaft are extended slightly to enable a belt at the bottom of the tail end actuating mechanism to be inserted into the lower part of the bag-type goods, the upper part of the tail end actuating mechanism clamps the upper part of the goods under the action of a tension spring, under the rotating force of the bottom plate belt and the first roller towards the outside direction of the carriage, goods enter the belt of the tail end executing mechanism, and at the moment, the fifth shaft drives the whole tail end executing mechanism to retract to the position of the fourth shaft so that the goods enter the belt.
The invention has the advantages that: the invention fixes the base on the ground, the rotary disc is arranged at the upper end of the base, the direction of the rotary disc is adjusted by the servo motor, the direction of the device can be effectively adjusted according to the actual situation, the practicability of the device is greatly improved, the fixed base and the lifting frame are kept fixed by fixedly installing the fixed base and the lifting mechanism at the upper end of the rotary disc, and the lifting frame and the belt stretching machine are longitudinally adjusted by driving the movable bracket by the rotating arm, thereby being effectively suitable for all vehicle types including box type vehicles, not needing to reform the vehicles, greatly reducing the labor intensity of workers, loading or unloading bag type or box type goods by replacing different end executing mechanisms, greatly improving the practicability of the device, effectively improving the working efficiency and the universality of equipment, and being suitable for different vehicle types and box type vehicles for loading and unloading, goods are continuously transported on the belt, and the modules continuously and simultaneously move in accordance with the requirements of different states, so that the efficiency is very high; due to the adoption of the modular structure, each structure can be independently assembled in the production and assembly stage, the building block type final assembly is realized, and the cost is greatly reduced.
Drawings
Fig. 1 is a schematic perspective view of a loading and unloading robot and a method for using the same according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a first-axis perspective structure of a robot for loading and unloading vehicles and a method for using the same according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a first-axis perspective structure of a robot for loading and unloading vehicles and a method for using the same according to an embodiment of the present invention;
FIG. 4 is a schematic top plan view of a portion of a robot for loading and unloading vehicles and a method of using the same in accordance with an embodiment of the present invention;
FIG. 5 is a schematic second-axis perspective view of a loading and unloading robot and a method for using the same according to an embodiment of the present invention;
FIG. 6 is a schematic perspective view of a main box of a loading and unloading robot and a method for using the same according to an embodiment of the present invention;
FIG. 7 is a third perspective view of a loading and unloading robot and a method for using the same according to an embodiment of the present invention;
fig. 8 is a schematic perspective view of a fourth shaft of a robot for loading and unloading vehicles and a method for using the same according to an embodiment of the present invention;
fig. 9 is a fifth bottom view of a robot for loading and unloading vehicles and a method for using the same according to an embodiment of the present invention;
FIG. 10 is an enlarged view of a portion of FIG. 9A illustrating a loading and unloading robot and a method of using the same according to an embodiment of the present invention;
fig. 11 is a schematic perspective view of a sixth axis and a seventh axis of a robot for loading and unloading vehicles and a method for using the same according to an embodiment of the present invention;
FIG. 12 is an enlarged schematic view of a portion of FIG. 9B illustrating a loading and unloading robot and a method for using the same according to an embodiment of the present invention;
FIG. 13 is a schematic side view of a fifth, sixth and seventh axis (FIG. 11) of a robot for loading and unloading vehicles and a method of using the same according to an embodiment of the present invention;
FIG. 14 is a partial perspective view of a robot for loading and unloading vehicles and a method for using the same according to an embodiment of the present invention;
FIG. 15 is a partial perspective view of a robot for loading and unloading vehicles and a method for using the same according to an embodiment of the present invention;
FIG. 16 is a schematic overall side view of a loading and unloading robot and a method of using the same according to an embodiment of the present invention;
fig. 17 is a schematic second-axis perspective view of a robot for loading and unloading vehicles and a method for using the same according to a second embodiment of the present invention;
fig. 18 is an overall side view of a robot for loading and unloading vehicles and a method for using the same according to a second embodiment of the present invention.
In the figure: 1-a first shaft; 11-a base; 12-a substrate; 121-mounting a bottom plate; 122-roller bearings; 123-planetary reducer; 124-a limiting block; 125-mounting a table top; 13-a first servo motor; 14-a cage; 141-bull's eye bearings; 15-rotating the disc; 151-fixing holes; 2-a second axis; 21-a first mounting frame; 22-a second servomotor; 221-rotating arm; 222-a first seated bearing; 23-a cushion cylinder; 24-a lift arm; 241-shaft mounting plate; 25-a first fixed base; 251-a first mount; 252 — a first fixing pin; 253-a second seated bearing; 26-a lifting mechanism; 261-a connecting rod; 262-a first spherical plain bearing; 263-mounting frame; 264-ear type seat; 265-a first servo electric push rod; 27-a second fixed base; 271-a second securing pin; 272-a second mount; 3-lifting the frame; 31-a third mount; 32-a bearing support; 33-a fourth mount; 34-a counterweight block; 4-a belt expander; 41-a main box body; 411-first hard rail; 412-helical rack; 5-a third axis; 51-a second box; 511-a second rigid rail; 52-a third servomotor; 53-a gearbox; 54-a screw rod; 55-a first side mounting plate; 551-first roller; 56-bevel gear; 6-fourth axis; 61-a third box; 62-a second side mounting plate; 621-a second roller; 63-screw nut pair; 64-a transverse plate; 65-transverse plate support; 7-fifth axis; 71-a second servo electric push rod; 72-a mobile frame; 721-fifth fixing frame; 73-edge mounting plate; 74-side edge panel; 8-sixth axis; 81-a third servo electric push rod; 82-a second spherical plain bearing; 83-a slide rail seat; 84-a slide rail mounting plate; 85-end panels; 86-a third seated bearing; 9-seventh axis; 91-mounting grooves; 92-DD motor; 93-horizontal axis; 10-end actuator; 101-a frame body; 1011-side plate; 102-a floor flange; 103-arc slide block; 104-motorized roller; 105-a tension spring; 106-a support arm; 107-a first drum; 108-second drum.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1, the present embodiment discloses a robot for loading and unloading, which includes a first shaft 1, a second shaft 2, a lifting frame 3, a belt stretching machine 4, a third shaft 5, a fourth shaft 6, a fifth shaft 7, a sixth shaft 8, and a tail end actuator 10.
Referring to fig. 2, the first shaft 1 is a rotating shaft, the first shaft 1 includes a base 11, the base 11 is square, four corners of the base 11 are fixedly connected with the ground through bolts, and a plurality of brackets are fixedly connected inside the base 11, so that the stability of the device is effectively ensured to the greatest extent;
the base plate 12 is welded at the central position of the upper end of the base 11, and the base plate 12 is fan-shaped;
the upper end of the base plate 12 is welded with a mounting table 125, the upper end of the mounting table 125 is provided with a planetary reducer 123, and the first servo motor 13 is arranged at the upper end of the planetary reducer 123;
in this embodiment, the mounting base plate 121 is attached to the upper end of the base plate 12, the roller bearing 122 is attached to the upper end of the mounting base plate 121, and the output shaft of the first servo motor 13 sequentially passes through the planetary reducer 123, the mounting table 125, the roller bearing 122, and the mounting base plate 121 to be connected to the base plate 12.
In this embodiment, both ends of the side edge of the mounting platform 125 are fixedly connected with the limiting blocks 124.
Referring to fig. 1, at least four retainers 14 are mounted on four sides of the upper end of the base 11, the retainers 14 are substantially in a fan-shaped structure, and a plurality of bull-eye bearings 141 are mounted on the upper and lower ends of the retainers 14.
Referring to fig. 3, the rotating disc 15 is fixed in the inner cavities of the plurality of holders 14 through a plurality of bull-eye bearings 141, and two fan-shaped holes are formed in the center of the rotating disc 15;
in this embodiment, the length of the two fan-shaped holes is equal to the sum of the length of the side of the mounting table 125 plus the length of the two stoppers 124, and the two fan-shaped holes are connected with each other in a clamping manner, so that the rotating disc 15 can be driven to adjust the direction through the rotation of the first servo motor 13, and the practicability of the device is effectively improved.
Referring to fig. 4, a plurality of fixing holes 151 are axially symmetrically formed at the upper end of the rotating disk 15.
Referring to fig. 5, the second shaft 2 is a rotating shaft installed at the upper end of the rotating disc 15, the second shaft 2 includes a first installation frame 21, a second servo motor 22, a buffer cylinder 23 and a lifting arm 24, the first installation frame 21 is installed at the upper end of the rotating disc 15, the second servo motor 22 is installed in an inner cavity of the first installation frame 21, the second servo motor 22 includes a rotating arm 221, a first bearing with a seat 222, an output shaft of the second servo motor 22 extending to the outside is connected with the rotating arm 221, the buffer cylinder 23 is fixedly installed at the upper end of the rotating disc 15, a notch matched with the width of the rotating arm 221 is formed in the upper end of the buffer cylinder 23, and the buffer cylinder 23 is fixedly connected with the lower end of the rotating arm 221 through the notch;
in this embodiment, the lifting arm 24 is an inverted T-shaped structure, the handle end of the lifting arm 24 is a hollow structure, and the front end of the rotating arm 221 is clamped into the inner cavity of the lifting arm 24 and is fixedly connected to the lifting arm 24 through the first rolling bearing 222.
In this embodiment, shaft mounting plates 241 are welded to both sides of the upper end of the lift arm 24.
Referring to fig. 1 and 5, the second shaft 2 further includes a first fixing base 25, a plurality of first fixing pins 252 matched with the fixing holes 151 are welded to the lower end of the first fixing base 25, the first fixing base 25 is fixedly connected to the rotating disc 15 through the first fixing pins 252, and a first fixing frame 251 is fixedly connected to the upper end of the first fixing base 25.
In this embodiment, the second bearings 253 with seats are welded to both sides of the upper end of the first fixing frame 251, and pass through the two second bearings 253 with seats through a fixing shaft, and extend to the outer sides of both ends.
Referring to fig. 5, the lifting frame 3 is installed at the lifting arm 24, the upper end of the first fixed base 25, the third fixing frame 31 is welded on both sides of the lower end of the lifting frame 3, the first fixed base 25 passes through the fixing shaft and passes through the two second bearings 253 with seats and extends to the both sides of the outer side and the third fixing frame 31, it is ensured that the second servo motor 22 can drive the lifting frame 3 to longitudinally adjust through the lifting arm 24, the practicability of the device is effectively improved, and the stability of the second shaft 2 is ensured.
Referring to fig. 1 and 6, the belt stretching and contracting machine 4 is a belt stretching and contracting machine, the belt stretching and contracting machine 4 comprises a main box body 41, the second box body 51 is integrally in a concave rectangular structure, first hard rails 411 are fixedly connected to two sides of an inner cavity of the main box body 41, and oblique racks 412 are fixedly connected to two sides of the inner cavity of the main box body 41, which are located at the upper ends of the first hard rails 411.
Referring to fig. 7, the third shaft 5 is a telescopic shaft, the third shaft 5 includes a second box 51, the second box 51 is a rectangular frame structure smaller than the main box 1, the rear end of the inner cavity of the second box 51 is fixedly connected with a third servo motor 52, the output shaft of the third servo motor 52 is connected with the input shaft of a gear box 53, the front end of the gear box 53 is connected with a lead screw 54, two sets of first side mounting plates 55 are fixedly connected to the two ends of the outer side of the second box 51, two first rollers 551 are connected to each set of first side mounting plates 55, and second hard rails 511 are fixedly connected to the two sides of the inner cavity of the second box 51.
In this embodiment, the left and right ends of the gear box at the front end of the second box 51 are connected to the transmission rod through the output shaft, the ends of the transmission rod are connected to the bevel gears 56, and the two bevel gears 56 are engaged with the helical rack 412.
In this embodiment, the two first rollers 551 are disposed diagonally, and the distance between the two first rollers 551 matches the height of the first hard rail 411.
Referring to fig. 8, the fourth shaft 6 is a telescopic shaft, the fourth shaft 6 includes a third box 61, the third box 61 is a rectangular frame structure, the rear end of the third box 61 is provided with a screw nut pair 63 matched with the screw 54, two sets of second side mounting plates 62 are mounted on two sides of the third box 61, two second rollers 621 are connected to each set of second side mounting plates 62, a transverse plate 64 is fixedly connected to the lower side of the front end of the third box 61, and a transverse plate support 65 is fixedly connected to the lower end of the transverse plate 64.
In this embodiment, the two second rollers 621 are disposed diagonally, and the distance between the two second rollers 621 matches the height of the second hard rail 511.
In this embodiment, 4 fixed mounting of belt stretcher are in the inner chamber of lifting frame 3, and 5 movable mounting of third axle are in the inner chamber of belt stretcher 4, and 6 movable mounting of fourth axle are in the inner chamber of third axle 5, and belt stretcher 4 is in step forward and retreat motion along the box track.
Referring to fig. 9-11, the fifth shaft 7 is a telescopic shaft, the fifth shaft 7 includes a second servo electric push rod 71 (note: the second servo electric push rod can be replaced by an air cylinder, which is not described in the prior art), a moving frame 72, and a side plate 74, the end of the second servo electric push rod 71 is fixedly connected to the transverse plate support 65 through a pin shaft, one end of the second servo electric push rod 71 away from the transverse plate support 65 is fixedly connected to the moving frame 72, both ends of the inner side of the moving frame 72 are fixedly connected to fifth fixing frames 721, and one side of each of the two fifth fixing frames 721 away from each other is fixedly mounted with a side mounting plate 73.
In this embodiment, the side plate 74 is attached to the front end of the third casing 61.
In this embodiment, the fourth shaft 6 always has a space for accommodating the entire length of the fifth shaft 7 when retracting the inner cavity of the third shaft 5.
Referring to fig. 11 to 13, a sixth shaft 8 is a rotating shaft, the sixth shaft 8 includes a third servo electric push rod 81 and an end plate 85, the third servo electric push rod 81 is obliquely installed at a notch of the moving frame 72, a second joint bearing 82 is fixedly connected to a front end of a push rod of the third servo electric push rod 81, two slide rail seats 83 are installed at a lower end of the end plate 85, the second joint bearing 82 is movably connected to the slide rail seats 83 through a pin shaft, and third seated bearings 86 are fixedly connected to two sides of a lower end of the end plate 85.
In this embodiment, the two outer ends of the movable frame 72 are both fixedly connected with the slide rail mounting plates 84, and the two slide rail mounting plates 84 are both slidably connected with the side plates 74.
Referring to fig. 11, the seventh shaft 9 is a rotating shaft, the seventh shaft 9 includes a mounting groove 91, the mounting groove 91 is fixedly mounted at the lower end of the end plate 85, a DD motor 92 is mounted in an inner cavity of the mounting groove 91 (or a servo motor with a speed reducer can achieve the same effect), and an output shaft of the DD motor 92 extends to the upper end through the end plate 85.
In this embodiment, the cross shaft 93 is commonly connected between the two fifth fixing frames 721, and the third bearings 86 are movably sleeved outside the cross shaft 93.
In this embodiment, when the third servo electric push rod 81 starts to move, the end plate 85 is driven to move circularly along the center of the horizontal shaft 93, so as to adjust the height.
Referring to fig. 14-15, the end actuator 10 is movably connected to the upper end of the end plate 85, the end actuator 10 includes a frame 101, a bottom plate flange 102 is fixedly connected to the lower end of the bottom plate of the frame 101, the bottom plate flange 102 is fixedly connected to the output shaft of the DD motor 92, and an arc slider 103 matched with the slide rail at the upper end of the end plate 85 is mounted at the lower end of the frame 101;
the end of the frame body 101 is connected with the electric roller 104, the two sides of the front end of the frame body 101 are both connected with the side plate 1011, the two ends of one side of the frame body 101 close to the side plate 1011 are both movably connected with the supporting arm 106 through the pin shaft, the tension spring 105 is connected between the supporting arm 106 and the side plate 1011, and the front end of the frame body 101 is connected with the second roller 108.
In this embodiment, a first roller 107 is connected between the two support arms 106.
In this embodiment, the belts are sleeved on the outer sides of the motorized pulley 104 and the second roller 108 together, so that the device is effectively applicable to all vehicle types including box-type vehicles, the vehicles do not need to be transformed, and the labor intensity of workers is greatly reduced.
The use method of the loading and unloading robot comprises the following steps: when loading, fixing the base of the first shaft 1 on the ground, installing a rotating disc 15 at the upper end of the first shaft 1, installing a second shaft 2 at the upper end of the rotating disc 15, adjusting the position of the second shaft 2 by a first servo motor 13 until the left and right positions of the carriage, connecting the belt stretcher 4 with a first fixing frame 251 to keep the module stable, providing power by a second servo motor 22, enabling a shaft mounting plate 241 connected with a rotating arm 221 to drive the belt stretcher 4 to move longitudinally, adjusting the height positions of cargos up and down the carriage, adjusting the front and back positions of the cargos in the carriage by stretching a third shaft 5 and a fourth shaft 6, when the cargos are transported to the upper end of the end actuating mechanism 10 by a belt, pushing the sixth shaft 8 and a seventh shaft 9 to leave the 4 shaft of the belt stretcher by a fifth shaft 7, and enabling the spatial position of the end actuating mechanism 10 to be parallel to the two sides of the carriage corresponding to the cargos by adjusting the height position of the sixth shaft 8 and the left and right positions of the seventh shaft 9, the end panel 85 moves downwards, so that goods slide downwards along the tail end actuating mechanism 10 by virtue of gravity and are stacked in the carriage;
during unloading, the first servo motor 13 rotates to drive the belt telescopic machine 4 to move to a carriage position, the second servo motor 22 drives the belt telescopic machine 4 to do up-and-down circular arc motion to adjust the height position of goods on the upper portion and the lower portion of the carriage, the third shaft 5 and the fourth shaft 6 telescopically adjust the front position and the rear position of the goods on the carriage to enable the front position and the rear position to be located at the upper portion and the lower portion of the carriage, the left position and the right position of the tail end execution mechanism 10 in the carriage are adjusted to be parallel to the upper position and the lower position of the goods through a third servo electric push rod 81, the left position and the right position of the tail end execution mechanism 10 in the carriage are adjusted to be parallel to the goods, the third shaft 5 extends out in a small range to enable a belt at the bottom of the tail end execution mechanism 10 to be inserted into the lower portion of the bag-type goods, the upper portion of the tail end execution mechanism 10 is under the action of a tension spring 105, the upper part of the goods is clamped, the goods enters the belt of the end actuator 10 under the rotating force of the bottom plate belt and the first roller 107 towards the outside of the carriage at the same time, and the second servo electric push rod 71 drives the whole end actuator 10 to retract to the position of the fourth shaft 6, so that the goods enters the belt.
The working principle is as follows: referring to fig. 16, a base 11 of a first shaft 1 is connected with the ground, a first servo motor 13 and a base plate 12 drive a rotary disc 15 to make circular motion along the ground plane, a second shaft 2 is fixed at the upper end of the rotary disc 15, the second shaft 2 drives a rotary arm 221 to make rotary motion by a second servo motor 22, a lifting arm 24 is lifted or lowered, a belt expander 4 is installed at the upper end of the lifting arm 24, a second box 51 is installed in an inner cavity of a main box 41, a third box 61 is installed in the inner cavity of the main box 41, a fifth shaft 7 is installed below the front end of the third box 61, a belt is installed at the upper parts of the main box 41, the second box 51 and the third box 61, the third shaft 5 and the fourth shaft 6 are simultaneously expanded and contracted by a servo motor and a transmission mechanism to drive the belt to expand and contract, the fifth shaft 7 is an expansion shaft installed at the tail end of the fourth shaft 6, a servo electric push rod or a cylinder of the fifth shaft 7 drives a sixth shaft 8 and a seventh shaft 9 to move back and forth, the fifth shaft 7 is provided with a sixth shaft 8 rotating shaft, the third servo electric push rod 81 drives the end panel 85 to move up and down, the seventh shaft 9 is arranged on the end panel 85, and different end actuating mechanisms 10 are arranged on the seventh shaft 9 plane and the end panel flange.
Example two
Referring to fig. 17 to 18, a difference between the second embodiment and the first embodiment is: the second shaft 2 further comprises a lifting mechanism 26, the lifting mechanism 26 comprises a connecting rod 261 and an ear-shaped seat 264, the lower end of the connecting rod 261 is fixedly connected with an installation frame 263, a first servo electric push rod 265 is installed in the inner cavity of the installation frame 263, the lower end of the installation frame 263 is fixedly connected with the ear-shaped seat 264 through a pin shaft, and the lower end of the ear-shaped seat 264 is fixedly connected with the rotary disc 15;
a fourth fixing frame 33 is welded in the middle of the tail end of the lifting frame 3, a first joint bearing 262 is fixedly connected to the upper end of the connecting rod 261, the first joint bearing 262 is fixedly connected with the fourth fixing frame 33 through a pin shaft, and two sides of the tail end of the lifting frame 3 are fixedly connected with balancing weights 34;
the second shaft 2 further includes a second fixing base 27, a plurality of second fixing pins 271 are fixedly connected to the lower end of the second fixing base 27, the second fixing base 27 is fixedly connected to the fixing holes 151 through the second fixing pins 271, second fixing frames 272 are welded to both sides of the upper end of the second fixing base 27, and the two second fixing frames 272 are fixedly connected to the bearing support 32 through fixing shafts penetrating through the shaft mounting plate 241.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The robot for loading and unloading is characterized by comprising a first shaft (1), a second shaft (2), a belt expander (4), a third shaft (5), a fourth shaft (6), a fifth shaft (7), a sixth shaft (8) and a seventh shaft (9), wherein a total 7-shaft system is adopted, the first shaft (1) comprises a base (11), the base (11) is fixedly connected to the ground, a base plate (12) is connected to the center of the base (11), a mounting table board (125) is installed at the upper end of the base plate (12), a first servo motor (13) is connected to the upper end of the mounting table board (125), an output shaft of the first servo motor (13) is connected with the base plate (12), and a rotary disc (15) is connected to the upper end of the base plate (12);
the second shaft (2) comprises a second servo motor (22), a lifting arm (24) and a fixed base (25), the second shaft (2) is fixedly connected to the upper end of the rotary disc (15), the second servo motor (22) is connected with a rotating arm (221) through a speed reducer, the rotating arm (221) is connected with a first bearing with a seat (222) through a shaft pin, the first bearing with a seat (222) is movably connected with the lifting arm (24), and the upper ends of the fixed base (25) and the lifting arm (24) are jointly provided with a lifting frame (3);
the belt stretching-contracting machine (4) is fixedly connected to the upper end of the lifting frame (3), the belt stretching-contracting machine (4) comprises a second box body (51), the inner cavity of the second box body (51) is movably connected with a third shaft (5), the inner cavity of the third shaft (5) is movably connected with a fourth shaft (6), the fourth shaft (6) comprises a transverse plate (64), and the tail end of the fourth shaft (6) is connected with a fifth shaft (7) through the transverse plate (64);
the fifth shaft (7) comprises a moving frame (72), the sixth shaft (8) is connected with the moving frame (72), and the upper end of the sixth shaft (8) is movably connected with the seventh shaft (9).
2. A robot for loading and unloading vehicles according to claim 1, characterised in that said base (11) is fixedly connected to the ground by means of bolts;
the upper end of the base plate (12) is connected with a mounting bottom plate (121), the upper end of the mounting bottom plate (121) is connected with a roller bearing (122), and the first servo motor (13) sequentially penetrates through the planetary reducer (123), the mounting table top (125), the roller bearing (122) and the mounting bottom plate (121);
the mounting table is characterized in that limiting blocks (124) are fixedly connected to the two sides of the mounting table top (125), and a mounting hole matched with the sum of the side edge of the mounting table top (125) and the two limiting blocks (124) is formed in the center of the rotating disc (15).
3. The robot for loading and unloading according to claim 1, wherein the holder (14) is welded around the upper end of the base (11), two or more bull-eye bearings (141) are mounted at the upper end and the lower end of the holder (14), and the rotating disk (15) is embedded in the inner cavity of the holder (14) and is in contact with the bull-eye bearings (141).
4. A robot for loading and unloading vehicles according to claim 1, a plurality of fixing holes (151) are axially symmetrically arranged at the upper end of the rotating disc (15), a plurality of first fixing pins (252) matched with the fixing holes (151) are welded at the lower end of the first fixing base (25), the first fixed base (25) is fixedly connected with the rotating disc (15) through a first fixed pin (252), the upper end of the first fixed base (25) is fixedly connected with a first fixed frame (251), two sides of the upper end of the first fixing frame (251) are respectively and fixedly connected with a second bearing with a seat (253), both sides below the tail end of the lifting frame (3) are welded with third fixing frames (31), the first fixing base (25) penetrates through the two second bearings (253) with the seat through a fixing shaft and extends to the outer side to be fixedly connected with a third fixing frame (31).
5. The robot for loading and unloading a vehicle according to claim 1, wherein a first mounting frame (21) is fixedly connected to the upper end of the rotating disc (15), the second servo motor (22) is fixedly connected to the inner cavity of the mounting frame (21), a buffer cylinder (23) is mounted at the upper end of the rotating disc (15), and the upper end of the buffer cylinder (23) is fixedly connected with the rotating arm (221);
second servo motor (22) still includes first rolling bearing (222), the front end of swinging boom (221) is connected with lifting arm (24) through first rolling bearing (222), the equal fixedly connected with axle mounting panel (241) in both sides upper end of lifting arm (24), bearing bracket (32) are all installed with the corresponding position of lifting arm (24) in the outside of belt stretch-shrink machine (4), the both sides of lifting arm (24) are all passed through axle mounting panel (241) through the fixed axle and are connected with bearing bracket (32).
6. The robot for loading and unloading a vehicle according to claim 1, wherein the belt telescopic machine (4) comprises a main box body (41), first hard rails (411) are fixedly connected to two sides of an inner cavity of the main box body (41), and oblique racks (412) are fixedly mounted at the upper ends of the first hard rails (411) on two sides of the inner cavity of the main box body (41).
The third shaft (5) comprises a second box body (51) and a gear box (53), two groups of first side mounting plates (55) are fixedly connected to two ends of the outer side of the second box body (51), two first rollers (551) are connected to each first side mounting plate (55), the two first rollers (551) are arranged diagonally, the distance between the two first rollers (551) is matched with the height of the first hard rail (411), a third servo motor (52) is fixedly connected to the rear end of the inner cavity of the second box body (51), an output shaft of the third servo motor (52) is connected with an input shaft of the gear box (53), an output shaft at the front end of the gear box (53) is connected with a lead screw (54), transmission rods are connected to the left end and the right end of the gear box of the second box body (51) through output shafts, and helical gears (56) matched with helical racks (412) are connected to the tail ends of the transmission rods, two sides of the inner cavity of the second box body (51) are fixedly connected with second hard rails (511);
the belt telescopic machine (4) synchronously moves forwards and backwards linearly along the box body track;
the fourth shaft (6) comprises a third box body (61), two groups of second side mounting plates (62) are mounted on two sides of the third box body (61), two second rollers (621) are connected to each group of second side mounting plates (62), the two second rollers (621) are arranged diagonally, the distance between the two second rollers (621) is matched with the height of the second hard rail (511), and a screw nut pair (63) matched with a screw rod (54) is arranged at the rear end of the third box body (61);
the front end lower side of the third box body (61) is fixedly connected with a transverse plate (64), the middle position of the lower end of the transverse plate (64) is fixedly connected with a transverse plate support (65), and the transverse plate support (65) is connected with a fifth shaft (7) through a pin shaft.
7. A robot for loading and unloading vehicles according to claim 1,
the fifth shaft (7) comprises a second servo electric push rod (71) and a moving frame (72), one end, far away from the transverse plate support (65), of the second servo electric push rod (71) is fixedly connected with the moving frame (72), a side edge plate (74) is installed at the front end of the third box body (61), fifth fixing frames (721) are fixedly connected to two ends of the inner side of the moving frame (72), and side installation plates (73) are fixedly installed on one sides, far away from the fifth fixing frames (721);
two ends of the outer side of the moving frame (72) are fixedly connected with slide rail mounting plates (84), and the two slide rail mounting plates (84) are connected with side plates (74) in a sliding manner;
the sixth shaft (8) comprises a third servo electric push rod (81) and an end face plate (85), the third servo electric push rod (81) is obliquely arranged at a notch of the moving frame (72), the front end of the push rod of the third servo electric push rod (81) is fixedly connected with a second joint bearing (82), two slide rail seats (83) are arranged at the lower end of the end face plate (85), the second joint bearing (82) is movably connected with the slide rail seats (83) through a pin shaft, and third seated bearings (86) are fixedly connected to two sides of the lower end of the end face plate (85);
the seventh shaft (9) comprises a mounting groove (91), the mounting groove (91) is fixedly mounted at the lower end of the end plate (85), a DD motor (92) is mounted in the inner cavity of the mounting groove (91), and an output shaft of the DD motor (92) penetrates through the end plate (85) and extends to the upper end;
a transverse shaft (93) is connected between the two fifth fixing frames (721) together, and the third bearings with seats (86) are movably sleeved on the outer side of the transverse shaft (93).
8. The robot for loading and unloading a vehicle according to claim 7, wherein the upper end of the end plate (85) is movably connected with an end actuator (10), the end actuator (10) comprises a frame body (101), a bottom plate flange (102) is fixedly connected with the lower end of a bottom plate of the frame body (101), the bottom plate flange (102) is fixedly connected with an output shaft of the DD motor (92), and the lower end of the frame body (101) is provided with an arc-shaped sliding block (103) matched with a sliding rail at the upper end of the end plate (85);
the end-to-end connection of framework (101) has motorized pulley (104), the front end both sides of framework (101) all are connected with curb plate (1011), one side both ends that framework (101) are close to curb plate (1011) all have support arm (106) through round pin axle swing joint, all be connected with extension spring (105), two jointly between support arm (106) and curb plate (1011) be connected with first cylinder (107) jointly between support arm (106), the front end of framework (101) is connected with second cylinder (108), the belt is cup jointed jointly in motorized pulley (104), second cylinder (108) outside.
9. The robot for loading and unloading a vehicle according to claim 1, wherein the second shaft (2) further comprises a lifting mechanism (26), the lifting mechanism (26) comprises a connecting rod (261) and an ear-shaped seat (264), a mounting frame (263) is fixedly connected to the lower end of the connecting rod (261), a first servo electric push rod (265) is installed in an inner cavity of the mounting frame (263), the lower end of the mounting frame (263) is fixedly connected with the ear-shaped seat (264) through a pin shaft, and the lower end of the ear-shaped seat (264) is fixedly connected with the rotating disk (15);
a fourth fixing frame (33) is welded in the middle of the tail end of the lifting frame (3), a first joint bearing (262) is fixedly connected to the upper end of the connecting rod (261), the first joint bearing (262) is fixedly connected with the fourth fixing frame (33) through a pin shaft, and balancing weights (34) are fixedly connected to two sides of the tail end of the lifting frame (3);
second axle (2) still includes second fixed baseplate (27), a plurality of second fixed pins (271) of lower extreme fixedly connected with of second fixed baseplate (27), second fixed baseplate (27) are through second fixed pin (271) and fixed orifices (151) fixed connection, second mount (272), two have all been welded to the upper end both sides of second fixed baseplate (27) second mount (272) all run through axle mounting panel (241) and bearing bracket (32) fixed connection through the fixed axle.
10. Use of a robot for loading and unloading vehicles according to claims 1-9, characterised in that it comprises the following steps: the method comprises the steps that a first shaft (1) is fixed on the ground, a rotating disc (15) is installed at the upper end of the first shaft (1), a second shaft (2) is installed at the upper end of the rotating disc (15), the position of the second shaft (2) is adjusted through a first servo motor (13) until the position of a carriage is left or right, meanwhile, the first fixing frame (251) is connected with a belt telescopic machine (4) to keep a module stable, power is provided through a second servo motor (22), a shaft installation plate (241) connected with a rotating arm (221) drives the belt telescopic machine (4) to move longitudinally, the height positions of cargos above and below the carriage are adjusted, the third shaft (5) and a fourth shaft (6) stretch and adjust the positions of the cargos in the front and at the back of the carriage, when the cargos are conveyed to the upper end of a tail end executing mechanism (10) through a belt, the fifth shaft (7) pushes the third shaft (5) to enable the fourth shaft (6) to leave the belt telescopic machine (4), the goods are parallel to the two sides of the carriage by adjusting the tail end actuating mechanism (10), the end panel (85) moves downwards, and the goods slide downwards along the tail end actuating mechanism (10) by means of gravity and are stacked in the carriage;
when unloading, the first servo motor (13) rotates to drive the belt telescopic machine (4) to move to the position of a carriage, the belt telescopic machine (4) performs up-and-down circular motion to adjust the height positions of cargos above and below the carriage, the third shaft (5) and the fourth shaft (6) telescopically adjust the positions of the cargos in the front and at the back of the carriage to enable the positions to be in the up-and-down height positions, the left-and-right positions and the front-and-back positions of the cargos in the carriage to be in a position convenient for the tail end actuating mechanism (10) to unload cargos, the fifth shaft (7) is in an initial extending state, the tail end actuating mechanism (10) is adjusted to be parallel to the upper and lower positions of the cargos in the carriage through the third servo electric push rod (81), the left-and-right positions of the tail end actuating mechanism (10) in the carriage are adjusted to be parallel to the cargos, meanwhile, the third shaft (5) extends slightly to enable a belt at the bottom of the tail end actuating mechanism (10) to be inserted into the lower part of the bag-type cargos, the upper part of the tail end actuating mechanism (10) under the action of the tension spring (105), the upper part of the goods is clamped, the goods enter the belt of the tail end actuator (10) under the rotating force of the bottom plate belt and the first roller (107) towards the outside direction of the carriage, and at the moment, the second servo electric push rod (71) drives the whole tail end actuator (10) to retract to the position of the third shaft (5) so that the whole tail end actuator enters the belt.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114955521A (en) * | 2022-05-10 | 2022-08-30 | 苏州光宝科技股份有限公司 | Automatic unloading mobile device of going up of electricity core |
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| CN114955521A (en) * | 2022-05-10 | 2022-08-30 | 苏州光宝科技股份有限公司 | Automatic unloading mobile device of going up of electricity core |
| CN114955521B (en) * | 2022-05-10 | 2023-07-25 | 苏州光宝科技股份有限公司 | Automatic charging and discharging mobile device for battery cell |
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