CN113977594A - Robot device for loading articles - Google Patents
Robot device for loading articles Download PDFInfo
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- CN113977594A CN113977594A CN202111143009.4A CN202111143009A CN113977594A CN 113977594 A CN113977594 A CN 113977594A CN 202111143009 A CN202111143009 A CN 202111143009A CN 113977594 A CN113977594 A CN 113977594A
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- loading
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- fork
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- 230000003028 elevating effect Effects 0.000 claims 1
- 230000000903 blocking effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
Abstract
The invention discloses a robot device for loading articles, comprising: the loading mechanism is used for clamping and extending articles into the carriage and loading the articles into the carriage and comprises a fixed platform, a loading executing mechanism used for clamping the articles and pushing the articles into the carriage and a telescopic pushing mechanism used for pushing the loading executing mechanism into the carriage, and the loading executing mechanism is connected with the fixed platform in a sliding manner; and the side pushing device is used for receiving the articles conveyed from the outside and pushing the articles into the loading mechanism. The invention provides a robot device for loading articles, which can quickly load stacked articles at one time, reduces and avoids manual operation, improves the operation efficiency and has high automation degree.
Description
Technical Field
The invention relates to the technical field of loading robots, in particular to a robot device for loading articles.
Background
Most carton articles adopt manual carrying mode to carry out loading operation among the prior art, or assist the loading through fork truck. The loading process has the advantages of high labor intensity of workers, low efficiency and high cost. Therefore, a robot device for loading articles needs to be designed, the stacked articles are quickly loaded, manual operation is reduced or avoided, the operation efficiency is improved, and the automation degree is high. .
Disclosure of Invention
In order to overcome the defects that in the prior art, the carton articles are loaded in a manual carrying mode, the labor intensity of workers is high in the loading process, the efficiency is low, and the cost is high, the invention provides the robot device for loading the articles, the robot device can quickly load the stacked articles at one time, the manual operation is reduced, the operation efficiency is improved, and the automation degree is high.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robotic device for loading an article, comprising:
the loading mechanism is used for clamping and extending articles into the carriage and loading the articles into the carriage, and comprises a fixed platform, a loading executing mechanism used for clamping the articles and pushing the articles into the carriage and a telescopic pushing mechanism used for pushing the loading executing mechanism into the carriage, wherein the loading executing mechanism is connected with the fixed platform in a sliding manner, the telescopic pushing mechanism pushes the articles out after the loading executing mechanism pushes the articles to a specified distance in the carriage, the loading executing mechanism retracts reversely at the same time, and the pushing speed of the telescopic pushing mechanism is the same as the retracting speed of the telescopic pushing mechanism;
and the side pushing device is used for receiving the articles conveyed from the outside and pushing the articles into the loading mechanism.
In the above technical scheme, the pushing mechanism may be a driving mechanism which can realize linear driving, such as an electric cylinder, an oil cylinder, a screw and nut mechanism driven by a motor, and the like. The robot mechanism is mainly applied to loading operation of containers or van trucks. The working process is as follows: after the carton articles are conveyed to the conveying line in the side pushing device in a stacking mode, the side pushing device pushes the cartons to the loading executing mechanism; then the loading actuating mechanism clamps the articles, and then the telescopic pushing mechanism drives the loading actuating mechanism to push the articles to the interior of the carriage in a stacking mode; after the pushing reaches a specified distance, pushing the two stacks of articles by a pushing plate in the loading actuating mechanism, and simultaneously, retracting the telescopic pushing mechanism reversely to drive the loading actuating mechanism to retract simultaneously, so that the two stacks of articles are kept fixed and separated from the loading actuating mechanism under the dual actions of pushing of the pushing plate and retracting of the loading actuating mechanism; and after the articles are completely pushed out, the loading operation of the whole stack of articles is completed.
Preferably, the loading executing mechanism comprises a first support, a bearing plate, a pushing plate, a pressing support, a pressing driver and a first scissor fork telescoping mechanism, the bearing plate is fixed to the first support, the pressing driver is fixed to the first support, the pressing support is arranged above the bearing plate and fixed to the pressing driver, the pressing driver drives the pressing support to move up and down, the first scissor fork telescoping mechanism is fixed to the first support, the pushing plate is arranged between the bearing plate and the pressing support and fixed to the first scissor fork telescoping mechanism, and the first scissor fork telescoping mechanism drives the pushing plate to move transversely.
In the technical scheme, the pressing driver can be a driving mechanism which can realize linear driving, such as an electric cylinder, an oil cylinder, a motor-driven screw rod and nut mechanism and the like. The loading actuating mechanism can clamp and push articles. The loading board can be used for placing a plurality of batches of articles simultaneously, so that the simultaneous loading operation of a plurality of stacks of articles is realized.
Preferably, the first scissor fork telescopic mechanism comprises a first motor, a first screw rod, a first nut and a first scissor fork connecting rod mechanism, the first motor drives the first screw rod to rotate so as to drive the first nut to move, the first scissor fork connecting rod mechanism comprises four connecting arms, two connecting arms close to the first screw rod, one connecting arm is hinged to the first nut, the other connecting arm is hinged to the first support, the other connecting arm is close to the two connecting arms of the pushing plate, one connecting arm is connected with the pushing plate in a sliding mode, and the other connecting arm is hinged to the pushing plate. The structure can realize the transverse driving of the pushing plate, and the transverse size of the driving mechanism is reduced through the scissor fork telescopic mechanism.
Preferably, the telescopic pushing mechanism comprises a driving motor, a chain wheel and a chain, the chain wheel is sleeved on the chain wheel, the chain wheel is rotatably connected with the fixed platform, the driving motor drives the chain wheel to rotate after passing through the speed reducer, and the loading executing mechanism is fixed with the chain.
Preferably, the loading mechanism further comprises a fixed frame and a height adjusting device, the fixed platform is arranged above the fixed frame, and the fixed platform is connected with the fixed frame through the height adjusting device. In the above technical scheme, the height adjusting device can be a driving mechanism which can realize linear driving, such as an electric cylinder, an oil cylinder, a motor-driven screw rod and nut mechanism and the like. Through the structure, the integral lifting of the loading mechanism can be realized, and the loading mechanism is suitable for carriages with different heights.
Preferably, the side pushing device comprises a second support, a conveying line, a side pushing plate and a second scissor fork telescoping mechanism, the conveying line is fixed to the second support, the side pushing plate is arranged above the side of the conveying line, the second scissor fork telescoping mechanism is fixed to the second support, and the second scissor fork telescoping mechanism drives the side pushing plate to move transversely. The structure can realize pushing of the articles.
Preferably, one side of the conveying line, which is far away from the second scissor fork telescopic mechanism, is provided with a flange. After the carton articles with the shoveling plates are conveyed to the conveying line in the side pushing device in a stacking mode, the side pushing plates in the side pushing device push the cartons to the loading executing mechanism under the driving of the second scissor fork telescopic mechanism, and meanwhile, the shoveling plates complete the stacking operation of the carton articles by removing the shoveling plates due to the blocking effect of the blocking edges; when the second scissor fork telescopic mechanism finishes the action of the whole stroke, all the articles in the batch enter the loading mechanism; the conveyor line is then reversed to allow the blade to be removed.
Preferably, the side pushing device further comprises a base and a transverse moving driving mechanism, the second support is connected with the base in a sliding mode, and the transverse moving driving mechanism drives the second support to slide. The transverse position of each batch of articles entering the conveying line is uncertain and cannot be too close to the loading mechanism, otherwise interference is possible, so that the side pushing device needs to be adjusted through the transverse moving driving mechanism to ensure that the articles can accurately enter the conveying line.
Preferably, the second support comprises a connecting frame, a lifting mechanism and a supporting frame, the supporting frame is connected with the base in a sliding mode, and the connecting frame is connected with the supporting frame through the lifting mechanism. The structure can enable the side pushing device to be adjusted to the same height as the car loader.
Preferably, the lifting mechanism comprises a motor, a connecting shaft and four screw rod lifters, the four screw rod lifters are respectively arranged at four corners of the supporting frame, and the motor drives the four screw rod lifters to lift through the connecting shaft. The structure can make the connecting frame keep a horizontal posture and ascend.
Preferably, the second scissor fork telescoping mechanism comprises a second motor, a second screw rod, a second nut and a second scissor fork link mechanism, the second motor drives the second screw rod to rotate so as to drive the second nut to move, the second scissor fork link mechanism comprises four connecting arms, two connecting arms close to the second screw rod, one connecting arm is hinged to the second nut, the other connecting arm is hinged to the second support, two connecting arms close to the side push plate, one connecting arm is connected with the side push plate in a sliding mode, and the other connecting arm is hinged to the side push plate. The structure can realize the transverse driving of the pushing plate, and the transverse size of the driving mechanism is reduced through the scissor fork telescopic mechanism.
The invention has the beneficial effects that: (1) the loading robot can quickly load stacked articles at one time, so that manual operation is reduced, the operation efficiency is improved, and the automation degree is high; (2) the transverse size of the scissor fork telescopic mechanism 1.2.6 is smaller than that of the driving mechanism, and sufficient driving force is provided; (3) the height adjusting device can realize the integral lifting of the loading mechanism and is suitable for carriages with different heights; (4) the edge stop can enable the whole stack of carton articles to automatically remove the shovel plate.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a loading actuator according to the present invention;
FIG. 3 is a schematic structural view of the side pushing device of the present invention;
fig. 4 is a partial structural schematic view of the side pushing device.
In the figure: the loading mechanism 1, the fixed platform 1.1, the loading actuator 1.2, the first support 1.2.1, the loading plate 1.2.2, the push plate 1.2.3, the press-supporting frame 1.2.4, the press-supporting driver 1.2.5, the first scissor fork telescopic mechanism 1.2.6, the first motor 1.2.6.1, the first lead screw 1.2.6.2, the first nut 1.2.6.3, the first scissor fork link mechanism 1.2.6.4, the telescopic push mechanism 1.3, the driving motor 1.3.1, the chain wheel 1.3.2, the chain 1.3, the fixed frame 1.4, the height adjusting device 1.5, the side push device 2, the second scissor support 2.1, the connecting frame 2.1, the lifting mechanism 2.1.2, the connecting shaft 2.1.2.2, the lead screw lifter 2.1.2.3, the support frame 2.1.3, the conveying line 2.2, the side push plate 2.3, the second scissor fork link mechanism 2.1.1.1, the lifting mechanism 2.2.2, the second side push mechanism 2.3, the second scissor fork link mechanism 2.2.3, the base 4.2.2.2.5, the side shift mechanism, the base 4.2.2.2.3, the base mechanism, and the base mechanism.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
Example 1:
as shown in fig. 1, a robot device for loading articles comprises a loading mechanism 1 and a side pushing device 2, wherein the loading mechanism 1 comprises a fixed platform 1.1, a loading actuating mechanism 1.2 for clamping articles and pushing the articles into a carriage, a telescopic pushing mechanism 1.3 for pushing the loading actuating mechanism 1.2 into the carriage, a fixed frame 1.4 and a height adjusting device 1.5, and the loading actuating mechanism 1.2 is slidably connected with the fixed platform 1.1; fixed platform 1.1 sets up in fixed frame 1.4 top, and fixed platform 1.1 is connected with fixed frame 1.4 through high adjusting device 1.5. As shown in fig. 2, the loading actuator 1.2 includes a first support 1.2.1, a bearing plate 1.2.2, a pushing plate 1.2.3, a press-supporting frame 1.2.4, a press-supporting driver 1.2.5 and a first scissor-fork extending mechanism 1.2.6, the bearing plate 1.2.2 is fixed to the first support 1.2.1, the press-supporting driver 1.2.5 is fixed to the first support 1.2.1, the press-supporting frame 1.2.4 is disposed above the bearing plate 1.2.2, the press-supporting frame 1.2.4 is fixed to the press-supporting driver 1.2.5, the press-supporting driver 1.2.5 drives the press-supporting frame 1.2.4 to move up and down, the first scissor-fork extending mechanism 1.2.6 is fixed to the first support 1.2.1, the pushing plate 1.2.3 is disposed between the bearing plate 1.2.2.2.2 and the press-supporting frame 1.2.4, the pushing plate 1.2.3 is fixed to the first scissor-fork extending mechanism 1.2.6, and the first scissor-fork extending mechanism 1.2.6. The first scissor fork telescoping mechanism 1.2.6 comprises a first motor 1.2.6.1, a first lead screw 1.2.6.2, a first nut 1.2.6.3 and a first scissor fork link mechanism 1.2.6.4, the first motor 1.2.6.1 drives a first lead screw 1.2.6.2 to rotate, so as to drive the first nut 1.2.6.3 to move, the first scissor fork link mechanism 1.2.6.4 comprises four connecting arms, two connecting arms close to the first lead screw 1.2.6.2, one connecting arm is hinged to the first nut 1.2.6.3, the other connecting arm is hinged to the first bracket 1.2.1, two connecting arms close to the pushing plate 1.2.3, one connecting arm is slidably connected to the pushing plate 1.2.3, and the other connecting arm is hinged to the pushing plate 1.2.3.
As shown in fig. 1, the telescopic pushing mechanism 1.3 includes a driving motor 1.3.1, a chain wheel 1.3.2 and a chain 1.3.3, the chain 1.3.3 is sleeved on the chain wheel 1.3.2, the chain wheel 1.3.2 is rotatably connected with the fixed platform 1.1, the driving motor 1.3.1 drives the chain wheel 1.3.2 to rotate after passing through a speed reducer, and the loading executing mechanism 1.2 is fixed with the chain 1.3.3.
As shown in fig. 3 and 4, the side pushing device 2 includes a second support 2.1, a conveying line 2.2, a side pushing plate 2.3, a second scissor fork telescoping mechanism 2.4, a base 2.6 and a transverse movement driving mechanism 2.7, the second support 2.1 includes a connecting frame 2.1.1, a lifting mechanism 2.1.2 and a supporting frame 2.1.3, the supporting frame 2.1.3 is slidably connected with the base 2.6, the connecting frame 2.1.1 is connected with the supporting frame 2.1.3 through the lifting mechanism 2.1.2, the conveying line 2.2 is fixed with the connecting frame 2.1.1, the side pushing plate 2.3 is disposed above the conveying line 2.2, the second scissor fork telescoping mechanism 2.4 is fixed with the connecting frame 2.1.1, and the second scissor fork telescoping mechanism 2.4 drives the side pushing plate 2.3 to move transversely. One side of transfer chain 2.2 keeping away from second scissors fork telescopic machanism 2.4 is equipped with shelves limit 2.5. The support frame 2.1.3 is connected with the base 2.6 in a sliding way, and the transverse moving driving mechanism 2.7 drives the second support frame 2.1 to slide. The lifting mechanism 2.1.2 comprises a motor, a connecting shaft 2.1.2.2 and four lead screw lifters 2.1.2.3, the four lead screw lifters 2.1.2.3 are respectively arranged at four corners of the supporting frame 2.1.3, and the motor drives the four lead screw lifters 2.1.2.3 to lift through the connecting shaft 2.1.2.2. The structure can ensure that the connecting frame 2.1.1 can keep a horizontal posture to rise. Second scissors fork telescopic machanism 2.4 includes second motor 2.4.1, second lead screw 2.4.2, second nut 2.4.3 and second scissors fork link mechanism 2.4.5, second motor 2.4.1 drive second lead screw 2.4.2 rotates, thereby drive second nut 2.4.3 and remove, second scissors fork link mechanism 2.4.5 includes four linking arms, be close to two linking arms of second lead screw 2.4.2, a linking arm is articulated with second nut 2.4.3, another linking arm is articulated with second support 2.1, be close to two linking arms of side push plate 2.3, a linking arm and side push plate 2.3 sliding connection, another linking arm is articulated with side push plate 2.3.
After the carton articles with the shoveling plates are conveyed to the conveying line 2.2 in the side pushing device 2 in a stacking mode, the side pushing plates 2.3 in the side pushing device 2 push the cartons to the loading executing mechanism 1.2 under the driving of the second scissor fork telescopic mechanism 2.4, and meanwhile, the shoveling plates complete the stacking operation of the carton articles by removing the shoveling plates due to the blocking effect of the blocking edges 2.5; when the second scissor fork telescopic mechanism 2.4 finishes the action of the whole stroke, all the articles of the batch enter the loading mechanism 1; the conveyor line 2.2 is then run in reverse, removing the blade.
In the above technical scheme, the pushing mechanism may be a driving mechanism which can realize linear driving, such as an electric cylinder, an oil cylinder, a screw and nut mechanism driven by a motor, and the like. The robot mechanism is mainly applied to loading operation of containers or van trucks. The working process is as follows: after the carton articles are conveyed to the conveying line 2.2 in the side pushing device 2 in a stacking mode, the side pushing device 2 pushes the cartons to the loading actuating mechanism 1.2; then the loading actuating mechanism 1.2 clamps the articles, and then the telescopic pushing mechanism 1.3 drives the loading actuating mechanism to push the articles to the interior of the carriage in a stacking mode; after the pushing reaches a specified distance, pushing out two stacks of articles by a pushing plate 1.2.3 in a loading executing mechanism 1.2, and simultaneously, retracting reversely by a telescopic pushing mechanism 1.3 to drive the loading executing mechanism 1.2 to retract at the same time, so that under the dual actions of pushing out by the pushing plate 1.2.3 and retracting by the loading executing mechanism 1.2, the two stacks of articles are kept fixed and separated from the loading executing mechanism 1.2; and after the articles are completely pushed out, the loading operation of the whole stack of articles is completed. The transverse size of the driving mechanism is reduced through the scissor fork telescopic mechanism.
The invention has the beneficial effects that: (1) the loading robot can quickly load stacked articles at one time, so that manual operation is reduced, the operation efficiency is improved, and the automation degree is high; (2) the transverse size of the scissor fork telescopic mechanism 1.2.6 is smaller than that of the driving mechanism, and sufficient driving force is provided; (3) the height adjusting device 1.5 can realize the integral lifting of the loading mechanism 1 and is suitable for carriages with different heights; (4) the stop edge 2.5 can enable the whole pile of carton articles to automatically remove the shovel plate.
Claims (10)
1. A robot device for loading articles, characterized by comprising:
the loading mechanism is used for clamping and extending articles into the carriage and loading the articles into the carriage, and comprises a fixed platform, a loading executing mechanism used for clamping the articles and pushing the articles into the carriage and a telescopic pushing mechanism used for pushing the loading executing mechanism into the carriage, wherein the loading executing mechanism is connected with the fixed platform in a sliding manner, the telescopic pushing mechanism pushes the articles out after the loading executing mechanism pushes the articles to a specified distance in the carriage, the loading executing mechanism retracts reversely at the same time, and the pushing speed of the telescopic pushing mechanism is the same as the retracting speed of the telescopic pushing mechanism;
and the side pushing device is used for receiving the articles conveyed from the outside and pushing the articles into the loading mechanism.
2. The robotic device of claim 1, wherein the loading actuator comprises a first support, a loading plate, a pushing plate, a hold-down frame, a hold-down actuator, and a first scissor-fork extension mechanism, the loading plate is fixed to the first support, the hold-down actuator is fixed to the first support, the hold-down frame is disposed above the loading plate, the hold-down frame is fixed to the hold-down actuator, the hold-down actuator drives the hold-down frame to move up and down, the first scissor-fork extension mechanism is fixed to the first support, the pushing plate is disposed between the loading plate and the hold-down frame, the pushing plate is fixed to the first scissor-fork extension mechanism, and the first scissor-fork extension mechanism drives the pushing plate to move laterally.
3. The robotic device for loading objects as claimed in claim 2, wherein the first scissor-fork extending mechanism comprises a first motor, a first lead screw, a first nut and a first scissor-fork linkage mechanism, the first motor drives the first lead screw to rotate so as to drive the first nut to move, the first scissor-fork linkage mechanism comprises four connecting arms, two connecting arms adjacent to the first lead screw, one connecting arm is hinged to the first nut, the other connecting arm is hinged to the first bracket, two connecting arms adjacent to the pushing plate, one connecting arm is slidably connected to the pushing plate, and the other connecting arm is hinged to the pushing plate.
4. The robotic device of claim 1, wherein the loading mechanism further comprises a fixed frame and a height adjustment device, the fixed platform is disposed above the fixed frame, and the fixed platform is connected to the fixed frame via the height adjustment device.
5. A robot device for loading articles as claimed in claim 1, 2, 3 or 4, wherein the side pushing device comprises a second support, a conveying line, a side pushing plate and a second scissor fork telescoping mechanism, the conveying line is fixed with the second support, the side pushing plate is arranged above the side of the conveying line, the second scissor fork telescoping mechanism is fixed with the second support, and the second scissor fork telescoping mechanism drives the side pushing plate to move transversely.
6. A robotic device for loading items according to claim 5, wherein a stop is provided on a side of the conveyor line remote from the second scissor fork retraction mechanism.
7. A robotic device for loading items as claimed in claim 6, wherein the side-pushing means further comprises a base and a traverse driving mechanism, the second carriage being slidably connected to the base, the traverse driving mechanism driving the second carriage to slide.
8. The robotic device of claim 7, wherein the second support comprises a connecting frame, a lifting mechanism, and a support frame, the support frame is slidably connected to the base, and the connecting frame is connected to the support frame via the lifting mechanism.
9. The robot apparatus for loading objects onto a car according to claim 8, wherein the elevating mechanism comprises a motor, a connecting shaft, and four screw lifters respectively disposed at four corners of the supporting frame, the motor simultaneously drives the four screw lifters to ascend and descend through the connecting shaft.
10. The robotic device for loading items according to claim 6, wherein the second scissor-fork extending mechanism comprises a second motor, a second lead screw, a second nut, and a second scissor-fork linkage mechanism, the second motor drives the second lead screw to rotate so as to drive the second nut to move, the second scissor-fork linkage mechanism comprises four connecting arms, two connecting arms adjacent to the second lead screw, one connecting arm is hinged to the second nut, the other connecting arm is hinged to the second bracket, two connecting arms adjacent to the side pushing plate, one connecting arm is slidably connected to the side pushing plate, and the other connecting arm is hinged to the side pushing plate.
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