CN114084668B - Loading and unloading manipulator and loading and unloading device - Google Patents
Loading and unloading manipulator and loading and unloading device Download PDFInfo
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- CN114084668B CN114084668B CN202210069937.9A CN202210069937A CN114084668B CN 114084668 B CN114084668 B CN 114084668B CN 202210069937 A CN202210069937 A CN 202210069937A CN 114084668 B CN114084668 B CN 114084668B
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- 230000007246 mechanism Effects 0.000 claims abstract description 217
- 230000007723 transport mechanism Effects 0.000 claims description 15
- 238000013459 approach Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000002195 synergetic effect Effects 0.000 abstract description 3
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 238000007599 discharging Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000032258 transport Effects 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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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
- B65G67/20—Loading covered vehicles
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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
- B65G67/24—Unloading land vehicles
Abstract
The invention provides a loading and unloading manipulator and a loading and unloading device, which relate to the technical field of container loading and unloading equipment, wherein the loading and unloading manipulator comprises a chassis, a switching frame, a first rotary driving mechanism, a second rotary driving mechanism and a clamping assembly; the first rotary driving mechanism is connected with the chassis and the adapter rack and is used for driving the adapter rack to rotate relative to the chassis; the second rotary driving mechanism is connected with the switching frame and the clamping assembly and is used for driving the clamping assembly to rotate relative to the switching frame; the drive axis of the first rotary drive mechanism is parallel to the drive axis of the second rotary drive mechanism. The clamping assembly and the chassis are connected through the first rotary driving mechanism, the connecting frame and the second rotary driving mechanism, and a container in a certain span area can be loaded and unloaded through the synergistic effect of the first rotary driving mechanism and the second rotary driving mechanism; and the clamping assembly is always opposite to the container after the deviation, so that the loading and unloading manipulator can clamp the container quickly and efficiently.
Description
Technical Field
The invention relates to the technical field of container loading and unloading equipment, in particular to a loading and unloading manipulator and a loading and unloading device.
Background
At present, in the fields of logistics, automatic production and the like, the loading and unloading work of a truck is still finished by taking manpower as a loading and unloading main force. Because the specification of goods is not unified, the goods is put in the carriage and is arranged the cloth and not unified and the goods is put the angle in the carriage and is not unified factors such as, this link still can not realize the automation completely, leads to artifical transport intensity of labour big, and loading and unloading goods efficiency is not high, and this and links such as intelligent transport that matures gradually and storage are unmatched with the high efficiency.
In the prior art, automatic unloading equipment for cartons with different specifications exists, but the automatic unloading equipment requires that the cartons have a single specification, the weight of the cartons cannot be overlarge, and certain requirements are met on the flatness of the bottom of a boxcar. In short, the versatility is not high. In addition, for a carriage with a certain width, the existing unloading equipment needs to be provided with a complex mechanical arm structure to obtain containers with different width positions, or the unloading equipment needs to be integrally moved to load or unload the containers at different positions of the carriage, so that the equipment structure is complex and the cost is high.
Disclosure of Invention
The invention provides a loading and unloading manipulator and a loading and unloading device, which are used for solving the problems that in the prior art, the carton is required to be in a single specification and cannot be overlarge in weight, and certain requirements are required for the flatness of the bottom of a boxcar. In short, the versatility is not high. In addition, for a carriage with a certain width, the existing unloading equipment needs to be provided with a complex mechanical arm structure to obtain different width positions, or the unloading equipment needs to be integrally moved to load or unload goods at different positions of the carriage, so that the defects of complex equipment structure and high cost are overcome, and the loading and unloading manipulator and the loading and unloading device are realized.
The invention provides a loading and unloading manipulator, comprising: the device comprises a chassis, a switching frame, a first rotary driving mechanism, a second rotary driving mechanism and a clamping assembly;
the first rotary driving mechanism is connected with the chassis and the adapter rack and is used for driving the adapter rack to rotate relative to the chassis;
the second rotary driving mechanism is connected with the adapter rack and the clamping assembly and is used for driving the clamping assembly to rotate relative to the adapter rack;
the axis of rotation of the first rotary drive mechanism is parallel to the axis of rotation of the second rotary drive mechanism.
According to the loading and unloading manipulator provided by the invention, the clamping assembly comprises a connecting plate, a clamping mechanism and a sliding mechanism, wherein the clamping mechanism is positioned on the connecting plate;
the clamping mechanism is provided with at least two clamping mechanisms, the sliding mechanism is connected with the connecting plate and at least one clamping mechanism, and the sliding mechanism is used for driving the two clamping mechanisms to mutually approach or separate from each other.
According to the loading and unloading manipulator provided by the invention, at least two sliding mechanisms are arranged, and the two sliding mechanisms are respectively connected with the two clamping mechanisms and used for driving the two clamping mechanisms to approach to or depart from each other.
According to the loading and unloading manipulator provided by the invention, the clamping assembly further comprises a bottom frame and a first telescopic mechanism;
the bottom frame is rotationally connected with the adapter frame through the second rotary driving mechanism;
the first telescopic mechanism is connected with the connecting plate and the underframe and is used for driving the connecting plate to linearly move relative to the underframe.
According to the loading and unloading manipulator provided by the invention, the clamping mechanism comprises a base platform, a clamping body and a third rotary driving mechanism;
the base station passes through slide mechanism sliding connection be in on the connecting plate, the clamping body with the base station rotates to be connected, third rotary driving mechanism is used for driving the clamping body with the base station rotates relatively.
According to the loading and unloading manipulator provided by the invention, the clamping mechanism further comprises two rotating rods which are arranged in parallel, the two rotating rods are respectively and rotatably connected with the base platform and the clamping body, the rotating axes of the two rotating rods are parallel to the rotating axes of the base platform and the clamping body, so that the base platform, the two rotating rods and the clamping body are connected to form a parallelogram connecting rod structure, and the third rotating driving mechanism is used for driving at least one rotating rod to rotate relative to the base platform.
The invention also provides a loading and unloading device, which comprises the loading and unloading manipulator and a transportation mechanism, wherein the loading and unloading manipulator is fixedly arranged at the feeding end or the discharging end of the transportation mechanism.
According to the loading and unloading device provided by the invention, the transportation mechanism comprises a lifting mechanism for adjusting the height of the transportation surface of the transportation mechanism relative to the ground.
According to the handling device provided by the invention, the handling device further comprises a second telescopic mechanism, the second telescopic mechanism is connected between the chassis of the handling manipulator and the transportation mechanism and is used for driving the handling manipulator to be close to or far away from the transportation mechanism, and the second telescopic mechanism is positioned at the feeding end or the discharging end of the transportation mechanism.
According to the handling device provided by the invention, the handling device further comprises a control device, wherein the control device is used for controlling the first rotary driving mechanism and the second rotary driving mechanism of the handling manipulator to rotate and controlling the clamping assembly of the handling manipulator to clamp a container.
According to the loading and unloading manipulator and the loading and unloading device, the clamping assembly and the chassis are connected through the first rotary driving mechanism, the connecting frame and the second rotary driving mechanism, and the clamping assembly is driven to shift left and right relative to the chassis through the reverse rotation at the same angle under the synergistic effect of the first rotary driving mechanism and the second rotary driving mechanism so as to load and unload a container in a certain span area; and the clamping assembly is always opposite to the container after the deviation, so that the deviation of a clamping angle can not occur, the loading and unloading manipulator can be ensured to clamp the container quickly and efficiently, and the container can not be damaged due to the deviation of the angle.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Wherein the drawings comprise:
FIG. 1 is a schematic view of a loading and unloading apparatus according to the present invention;
FIG. 2 is a schematic view of the connection of a second telescoping mechanism to a clamping assembly according to the present invention;
FIG. 3 is a schematic view of a loading/unloading robot according to the present invention;
fig. 4 is a second schematic structural view of a loading/unloading manipulator according to the present invention;
FIG. 5 is a schematic view of the loading and unloading manipulator of the present invention in an initial state;
fig. 6 is a schematic view showing a left-shifted state of a loading/unloading robot according to the present invention;
fig. 7 is a schematic diagram showing a rightward offset state of the loading/unloading manipulator according to the present invention;
FIG. 8 is a schematic view of a clamping assembly provided in the present invention;
FIG. 9 is an enlarged view taken at I in FIG. 8;
FIG. 10 is an enlarged view taken at II in FIG. 8;
fig. 11 is a schematic view of the unloading state of the loading and unloading device provided by the invention.
Reference numerals:
100: a chassis;
200: a transfer rack;
300: a first rotary drive mechanism;
400: a second rotary drive mechanism;
500: a clamping assembly; 510: a connecting plate; 520: a clamping mechanism; 521: a base station; 522: a clamping body; 523: rotating the rod; 5231: a first rotating lever; 5232: a second rotating lever; 524: a first axis of rotation; 525: a second axis of rotation; 526: a third axis of rotation; 527: a fourth axis of rotation; 530: a sliding mechanism; 540: a chassis; 550: a first telescoping mechanism; 551: a slide rail; 552: a rotating electric machine; 553: a lead screw;
600: a transport mechanism; 610: a lifting mechanism; 620: a base;
700: a second telescoping mechanism;
800: a carriage; 810: a cargo box.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "first" and "second", etc. are numbers that are used for clearly illustrating the product parts and do not represent any substantial difference. "upper", "lower", "inner", and the like are used merely to indicate relative positional relationships, and when the absolute position of a described object is changed, the relative positional relationships may also be changed accordingly. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
It should be noted that the description "in the range of …" in the present invention includes both end values. Such as "in the range of 10 to 20," includes both ends of the range of 10 and 20.
It is to be understood that, unless otherwise expressly specified or limited, the term "coupled" is used broadly, and may, for example, refer to directly coupled devices or indirectly coupled devices through intervening media. Specific meanings of the above terms in the embodiments of the invention will be understood to those of ordinary skill in the art in specific cases.
When the containers need to be loaded and unloaded from the carriage, the general containers have various specifications, the containers are not uniformly placed, and the containers are generally arranged in a staggered mode on the basis of filling the carriage, or the containers manually placed are irregular. And, for some cargo containers with wheel sets at the bottom or recesses at the top, the cargo containers may overlap and sink when arranged up and down, resulting in increased difficulty in unloading. Further, the sizes of the cars are different, and the interior conditions are also different.
The handling robot and handling device of the present invention will be described with reference to fig. 1-11.
Specifically, the present embodiment provides a loading and unloading device for clamping a container to be unloaded or loaded in a stacked container, as shown in fig. 1, comprising a loading and unloading robot and a transportation mechanism 600, wherein the loading and unloading robot is fixedly installed at a feeding end or a discharging end of the transportation mechanism 600.
The loading and unloading manipulator comprises a clamping assembly 500 and a chassis 100, wherein the clamping assembly 500 is fixed at the feeding end or the discharging end of the conveying mechanism 600 through the chassis 100.
The transport mechanism 600 is a carrier, preferably a belt conveyor, capable of transporting containers 810. For example, the gripper assemblies 500 grip containers one by one from the car, place them on the transport mechanism 600, and move to a warehouse for storage by the transport mechanism 600. Alternatively, the transport mechanism 600 transports the containers 810 stored in the storage area to the rear end of the carriage, and the containers are gripped one by the gripping assembly 500 and sequentially placed in the carriage.
Further, the transportation mechanism 600 according to the present embodiment includes a base 620, and the base 620 is used for supporting and fixing the belt conveyor on the ground. Preferably, the transport mechanism 600 further comprises a lifting mechanism 610 for adjusting the height of the transport surface of the transport mechanism 600 relative to the ground to match different car heights.
Preferably, referring to fig. 2, the handling apparatus according to this embodiment further includes a second telescopic mechanism 700, where the second telescopic mechanism 700 is connected between the chassis 100 of the handling robot and the transportation mechanism 600, and is used to drive the handling robot to approach or leave the transportation mechanism 600, and the second telescopic mechanism 700 is located at the feeding end or the discharging end of the transportation mechanism 600.
Wherein, the second telescopic machanism 700 can drive chassis 100 and stretch out and draw back from beginning to end to drive centre gripping subassembly 500 and stretch out and draw back from beginning to end, and is not enough in transport mechanism 600 length, perhaps gets packing box 810 back to the inside clamp gradually in carriage 800, drives centre gripping subassembly 500 to carriage 800 in through second telescopic machanism 700, with the degree of depth in the adaptation carriage. At this time, the transport mechanism 600 does not need to be moved, and the working process is simple.
As shown in fig. 2 to 4, the loading/unloading robot according to the present embodiment preferably includes: the chassis 100, the adaptor frame 200, the first rotation driving mechanism 300, the second rotation driving mechanism 400 and the clamping assembly 500.
The chassis 100 is used for connecting the adaptor rack 200 and the second telescoping mechanism 700. Alternatively, the chassis 100 may be fixedly connected to other bases to support and relatively secure the gripper assembly 500 to the ground when the handler is not engaged with the transport mechanism 600 but is merely used to grip the container 810.
Specifically, the first rotary driving mechanism 300 is connected between the chassis 100 and the adaptor bracket 200, for driving the adaptor bracket 200 to rotate relative to the chassis 100; specifically, in this embodiment, the first rotary driving mechanism 300 is preferably an RV reducer, which has the characteristics of convenience in installation, high precision and large load moment, and in this embodiment, the first rotary driving mechanism 300 can drive the connecting frame 200 to rotate at an angle of ± 45 ° with respect to the chassis 100, and needs to stop at several positions in the middle.
Alternatively, a rotating shaft may be disposed at the lower end of the rear side of the adapter 200, and the chassis 100 is provided with a bearing set corresponding to the connecting position, where the bearing set is composed of two ball bearings and a thrust ball bearing, where the two ball bearings bear the radial torque of the rotating shaft, and the thrust ball bearing bears the axial pressure of the rotating shaft. The lower end of the rotating shaft is connected with a synchronous belt wheel, a motor speed reducer is arranged at a corresponding position of the chassis 100, the synchronous belt wheel is installed, the rotating shaft is driven to rotate through a synchronous belt, and the first rotary driving mechanism 300 is low in cost and convenient for disassembly and maintenance of parts.
Specifically, the second rotary driving mechanism 400 is connected between the adaptor bracket 200 and the clamping assembly 500, and is used for driving the clamping assembly 500 to rotate relative to the adaptor bracket 200; specifically, in this embodiment, the second rotary driving mechanism 400 is preferably an RV reducer, and has the characteristics of convenience in installation, high precision, and large load moment, and particularly has a hollow structure. Wherein, second rotary driving mechanism 400 can drive clamping component 500 and be 360 rotations for adapter frame 200 in this embodiment to the load center on adapter frame 200 upper portion changes in real time, and the axial moment that the RV speed reducer receives is for becoming the moment, requires that the rotational speed is fast, and positioning accuracy is high. Further, the hollow structure of the RV reducer facilitates the pipeline of each component on the adaptor rack 200 to pass through, facilitating the wiring.
Specifically, the drive axis of the first rotary drive mechanism 300 is parallel to the drive axis of the second rotary drive mechanism 400. So that the first rotary driving mechanism 300 and the second rotary driving mechanism 400 cooperate to drive the clamping assembly 500 to shift leftwards or rightwards relative to the transporting mechanism 600, and in the shifting process, the clamping assembly 500 always faces forwards.
As shown in connection with fig. 5 to 7. In fig. 5, the first rotary driving mechanism 300 and the second rotary driving mechanism 400 are in an initial state, and the clamping assembly 500 is located right in front of the chassis 100. Based on the direction of the drawing shown in fig. 5, the first rotary driving mechanism 300 drives the adapter rack 200 to rotate counterclockwise, and the second rotary driving mechanism 400 drives the clamping assembly 500 to rotate clockwise; in addition, the second rotary driving mechanism 400 always maintains the same rotation angle opposite to the rotation direction of the first rotary driving mechanism 300, so that the clamping assembly 500 shown in fig. 6 is in a state of being deviated leftward with respect to the chassis 100, when the width of the vehicle compartment is wide, the container 810 on the side of the vehicle compartment 800 can be clamped without moving the transportation mechanism 600 to move left and right, and the clamping angle can be aligned with the container 810, and the deviation of the clamping angle does not occur.
Similarly, based on the direction of the drawing shown in fig. 5, the first rotary driving mechanism 300 drives the adapter frame 200 to rotate clockwise, and the second rotary driving mechanism 400 drives the clamping assembly 500 to rotate counterclockwise; in addition, the second rotary driving mechanism 400 always maintains the same rotation angle opposite to the rotation direction of the first rotary driving mechanism 300, so that the clamping assembly 500 shown in fig. 7 is shifted to the right relative to the chassis 100, when the width of the carriage is wide, the container 810 on the side of the carriage 800 can be clamped without moving the transportation mechanism 600 to move left and right, and the clamping angle can be aligned with the container 810, and the shift of the clamping angle does not occur.
The loading and unloading manipulator is connected with the clamping assembly and the chassis through the first rotary driving mechanism, the connecting frame and the second rotary driving mechanism, and the clamping assembly is driven to shift left and right relative to the chassis through the reverse rotation at the same angle under the synergistic action of the first rotary driving mechanism and the second rotary driving mechanism so as to load and unload a container in a certain span area; and the clamping assembly is always opposite to the container after the deviation, so that the deviation of a clamping angle can not occur, the loading and unloading manipulator can be ensured to clamp the container quickly and efficiently, and the container can not be damaged due to the deviation of the angle.
Specifically, on the basis of the above embodiments, the present embodiment further provides an embodiment of the clamping assembly 500, and as shown in fig. 8 to 10, the clamping assembly 500 includes a connecting plate 510, a clamping mechanism 520, and a sliding mechanism 530.
In this embodiment, the number of the clamping mechanisms 520 is at least two, and in this embodiment, two clamping mechanisms 520 are taken as an example, the sliding mechanism 530 is connected to one of the clamping mechanisms 520 and the connecting plate 510, the other clamping mechanism 520 is fixed on the connecting plate 510, and the sliding mechanism 530 is used for driving the two clamping mechanisms 520 to move close to or away from each other. Specifically, the sliding mechanism 530 includes a sliding rail fixed on the connecting plate 510 and a sliding driving mechanism slidably connected to the sliding rail and adapted to slide along the sliding rail, and the sliding driving mechanism is fixedly connected to the clamping mechanism 520.
Alternatively, there are at least two clamping mechanisms 520 and at least two sliding mechanisms 530, and the two sliding mechanisms 530 are respectively connected to the two clamping mechanisms 520 and are used for driving the two clamping mechanisms 520 to approach to or move away from each other.
When the first rotary driving mechanism 300 drives the adapter frame 200 to rotate counterclockwise and the second rotary driving mechanism 400 drives the clamping assembly 500 to rotate clockwise to reach the state shown in fig. 6, the two sliding mechanisms 530 can respectively drive the two clamping mechanisms 520 to slide to the left, so that the clamping mechanisms 520 can clamp the leftmost container 810 in the compartment 800. When the first rotary driving mechanism 300 drives the adapter frame 200 to rotate clockwise and the second rotary driving mechanism 400 drives the clamping assembly 500 to rotate counterclockwise to reach the state shown in fig. 7, the two sliding mechanisms 530 can respectively drive the two clamping mechanisms 520 to slide to the right side, so that the clamping mechanisms 520 can clamp the container 810 on the rightmost side in the compartment 800.
Specifically, in this embodiment, the sliding rails of the two sliding mechanisms 530 are parallel to each other, and extend along the lateral direction of the loader/unloader robot, and the sliding mechanisms 530 drive the clamping mechanisms 520 to slide left and right. As shown in connection with fig. 8, when the two clamping mechanisms 520 are slid toward each other, the two clamping mechanisms 520 move toward each other and clamp the container 810. When the two clamping mechanisms 520 are slid back on each other, the two clamping mechanisms 520 move away from each other to disengage the clamp from the container 810.
Preferably, as shown in fig. 8, the clamping assembly 500 of the present embodiment further includes a base frame 540 and a first telescoping mechanism 550; the bottom frame 540 is rotatably connected with the adapter frame 200 through the second rotary driving mechanism 400; the first retracting mechanism 550 is connected between the connecting plate 510 and the bottom frame 540 for driving the connecting plate 510 to linearly move relative to the bottom frame 540.
The first telescoping mechanism 550 includes slide rails 551 disposed on two sides of the bottom frame 540, a rotating motor 552 and a lead screw 553; the connecting plate 510 is provided with a nut seat 511 matched with the screw rod and a sliding table 512 matched with the two sliding rails. The rotating motor 552 drives the lead screw 553 to rotate, the lead screw 553 rotates and drives the nut seat 511 to move towards or away from the rotating motor 552, the nut seat 511 is fixedly connected with the connecting plate 510, the connecting plate 510 is fixedly connected with the sliding table 512, and the connecting plate 510 can slide back and forth along the two slide rails 551 of the bottom frame 540. The attachment plate 510 is controlled by the first telescoping mechanism 550 to telescope fore and aft relative to the base frame 540 to provide fore and aft adjustment when clamping the cargo box 810, in conjunction with the first telescoping mechanism 550, to quickly and accurately clamp the cargo box 810.
Preferably, as shown in fig. 8, the two clamping mechanisms 520 of the present embodiment have the same structure, and each of the two clamping mechanisms includes a base 521, a clamping body 522 and a third rotation driving mechanism.
The base 521 is slidably connected to the connecting plate 510 through a sliding mechanism 530, specifically, the sliding mechanism 530 includes a sliding rail fixed to the connecting plate 510 and a sliding driving mechanism slidably connected to the sliding rail, the sliding driving mechanism is fixedly connected to the base 521, and the sliding driving mechanism drives the base 521 to slide along the sliding rail. The clamping body 522 is rotatably connected with the base station 521, and the third rotary driving mechanism is used for driving the clamping body 522 and the base station 521 to rotate relatively, so as to lift the container 810 after clamping the container 810, and particularly, when the upper container 810 is partially embedded into the lower container 810, the container 810 can be conveniently taken out.
Preferably, the third rotary driving mechanism may be mounted on the base 521, and drives the clamping body 522 to rotate relative to the base 521. Preferably, the clamping body 522 is in the form of a strip plate that can extend into a seam of the cargo box 810 to facilitate clamping of the cargo box 810.
Preferably, as shown in fig. 9 and 10, the clamping mechanism 520 of the present embodiment further includes two rotating rods 523 arranged in parallel, and the two rotating rods 523 are respectively rotatably connected to the base 521 and the clamping body 522.
The rotating rods 523 comprise a first rotating rod 5231 and a second rotating rod 5232, the first rotating rod 5231 is respectively and rotatably connected with the base 521 and the clamping body 522, and the second rotating rod 5232 is respectively and rotatably connected with the base 521 and the clamping body 522; the first rotating lever 5231 and the base 521 rotate relative to each other about the first rotation axis 524, the first rotating lever 5231 and the clamping body 522 rotate relative to each other about the first rotation axis 525, the second rotating lever 5232 and the clamping body 522 rotate relative to each other about the third rotation axis 526, the second rotating lever 5232 and the base 521 rotate relative to each other about the fourth rotation axis 527, the first rotation axis 524, the first rotation axis 525, the third rotation axis 526 and the fourth rotation axis 527 are parallel to each other, the shortest connecting line between the first rotation axis 524 and the first rotation axis 525 and the shortest connecting line between the third rotation axis 526 and the fourth rotation axis 527 are parallel to each other, and the shortest connecting line between the first rotation axis 524 and the fourth rotation axis 527 and the shortest connecting line between the first rotation axis 525 and the third rotation axis 526 are parallel to each other.
The rotating lever 523, the holding body 522, and the base 521 described in this embodiment are connected to each other to form a parallelogram rotation structure, and the third rotation driving mechanism can drive the first rotating lever 5231 to rotate relative to the base 521 about the first rotation axis 524 or the second rotating lever 5232 to rotate relative to the base 521 about the fourth rotation axis 527. Through the parallelogram rotating structure, the rotating rod 523 can drive the clamping body 522 to rotate relative to the base station 521 in the process of rotating relative to the base station 521, and the clamping body 522 can keep a horizontal state, so that the clamping body 522 can keep the container 810 in a horizontal state after clamping the container 810, and the container 810 cannot be toppled in the clamping and transporting processes.
Specifically, the third rotation driving mechanism is connected between the first rotation lever 5231 and the base 521 or between the second rotation lever 5232 and the base 521.
Specifically, on the basis of the above embodiment, the loading and unloading device according to this embodiment further includes a control device, where the control device is configured to control the first rotation driving mechanism and the second rotation driving mechanism of the loading and unloading robot to rotate, and is further configured to control the clamping assembly of the loading and unloading robot to clamp the container.
Specifically, as shown in fig. 1 and fig. 11, the present embodiment takes as an example the case where stacked containers 810 are unloaded in the vehicle compartment 800. The car 800 moves to the front of the loading/unloading device and the adjustment lift mechanism 610 adjusts the belt conveyor to a height appropriate for the car. The loading and unloading manipulator is integrally moved to the front end of the container 810 to be clamped through the second telescopic mechanism 700, the clamping assembly 500 is driven to be aligned to the right front of the container 810 to be clamped through the cooperation of the first rotary driving mechanism 300 and the second rotary driving mechanism 400, the corresponding height of the clamping body 522 is adjusted through the third rotary driving mechanism, and the transverse position of the clamping body 522 is adjusted through the sliding mechanism 530; after the gripping bodies 522 are aligned with the slits on both sides of the cargo box 810, the first telescoping mechanism 550 is controlled to extend the gripping bodies 522 into the slits. Preferably, the first telescoping mechanism 550 and the second telescoping mechanism 700 cooperate to control the extension of the clamping body 522 into the gap.
After the clamping bodies 522 extend into the gaps for a certain distance, the sliding mechanism 530 drives the two clamping bodies 522 to approach each other and clamp the container 810; after the clamping force reaches a certain value, the third rotation driving mechanism controls the clamping body 522 to be lifted upwards for a certain distance, and then the first telescoping mechanism 550 and the second telescoping mechanism 700 control the clamping assembly 500 to move to one side of the transportation mechanism 600. At this time, the pod 810 clamped by the clamping assembly 500 is controlled to be positioned on the conveying belt of the conveying mechanism 600 by controlling the first rotary driving mechanism 300 to restore the adapter frame 200 to the initial position and simultaneously controlling the second rotary driving mechanism 400 to rotate the clamping assembly 500 backwards by 180 degrees, as shown in fig. 11.
The third rotary driving mechanism controls the clamping bodies 522 to move downwards at the same time by a certain distance until the container 810 is about to contact the conveying belt, the sliding mechanism 530 drives the two clamping bodies to move away from each other, the container 810 loses the clamping effect of the clamping assembly 500 and falls onto the conveying belt, at this time, the unloading action of the single container 810 is finished, and the first rotary driving mechanism 300, the second rotary driving mechanism 400, the first telescopic mechanism 550, the second telescopic mechanism 700, the sliding mechanism 530 and the third rotary driving mechanism cooperate to unload the next container 810.
The handling device is strong in universality, can be compatible with all conventional vehicle types from 3-meter van trucks to 7-meter van trucks, and the clamping assembly 500 can reach all corners in the container within the range; the clamping assembly 500 is arranged in a split mode, so that the clamping assembly can adapt to containers with different width specifications; the first telescoping mechanism 550 of the clamp assembly 500 is capable of adjusting its distance from the cargo container in real time; the first and second rotary driving mechanisms 300 and 400 can correct the skew of the central axis of the transportation mechanism 600 when the truck is parked, or the inclination of the container.
Finally, it should be noted that: 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 (9)
1. A loading and unloading manipulator, characterized by comprising: the device comprises a chassis, a switching frame, a first rotary driving mechanism, a second rotary driving mechanism and a clamping assembly;
the first rotary driving mechanism is connected with the chassis and the adapter rack and is used for driving the adapter rack to rotate relative to the chassis;
the second rotary driving mechanism is connected with the adapter rack and the clamping assembly and is used for driving the clamping assembly to rotate relative to the adapter rack;
the axis of rotation of the first rotary drive mechanism is parallel to the axis of rotation of the second rotary drive mechanism;
the centre gripping subassembly includes fixture, fixture includes base station, the centre gripping body, third rotary driving mechanism and parallel arrangement's two dwang, two the dwang respectively with the base station with the centre gripping body rotates to be connected, two the dwang with the base station with the axis of rotation of the centre gripping body is parallel to each other, so that base station, two dwang with the centre gripping body coupling forms parallelogram connecting rod structure, third rotary driving mechanism is used for driving at least one the dwang for the base station rotates.
2. The loader manipulator of claim 1, wherein the gripper assembly further comprises a connecting plate and a slide mechanism, the gripper mechanism being located on the connecting plate;
the clamping mechanism is provided with at least two clamping mechanisms, the sliding mechanism is connected with the connecting plate and at least one clamping mechanism, and the sliding mechanism is used for driving the two clamping mechanisms to mutually approach or separate from each other.
3. The loading and unloading manipulator according to claim 2, characterised in that there are at least two of said sliding mechanisms, respectively connected to the two gripping mechanisms, for driving the two gripping mechanisms towards and away from each other.
4. The handling robot of claim 2 or 3, wherein the gripper assembly further comprises a chassis and a first telescoping mechanism;
the bottom frame is rotationally connected with the adapter frame through the second rotary driving mechanism;
the first telescopic mechanism is connected with the connecting plate and the underframe and is used for driving the connecting plate and the underframe
The tab moves linearly relative to the chassis.
5. The handling robot as recited in claim 2 or 3, wherein the base is slidably coupled to the connecting plate by the slide mechanism, the gripping body is rotatably coupled to the base, and the third rotary drive mechanism is configured to drive the gripping body and the base to rotate relative to each other.
6. Handling device, comprising a handling robot according to any of the claims 1-5, and further comprising a transport mechanism, wherein the handling robot is fixedly mounted at the infeed or outfeed end of the transport mechanism.
7. Handling device according to claim 6, characterised in that the transport means comprise a lifting mechanism for adjusting the height of the transport plane of the transport means relative to the ground.
8. The handling device according to claim 6 or 7, further comprising a second telescoping mechanism connecting the chassis of the handling robot and the transport mechanism for driving the handling robot closer to or further from the transport mechanism, the second telescoping mechanism being located at the infeed or outfeed end of the transport mechanism.
9. The handling device of claim 6, further comprising a control device for controlling the rotation of the first and second rotary drive mechanisms of the handling robot and for controlling the gripping assembly of the handling robot to grip a container.
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| CN202210069937.9A CN114084668B (en) | 2022-01-21 | 2022-01-21 | Loading and unloading manipulator and loading and unloading device |
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| CN202210069937.9A CN114084668B (en) | 2022-01-21 | 2022-01-21 | Loading and unloading manipulator and loading and unloading device |
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| CN114084668B true CN114084668B (en) | 2022-07-05 |
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| CN115783609B (en) * | 2023-01-09 | 2023-11-28 | 青岛华新华义齿技术有限公司 | Mechanical arm capable of controlling grabbing force |
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| CN114084668A (en) | 2022-02-25 |
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Effective date of registration: 20221222 Address after: 100190 No. 95 East Zhongguancun Road, Beijing, Haidian District Patentee after: INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Address before: 100190 No. 95 East Zhongguancun Road, Beijing, Haidian District Patentee before: INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Patentee before: TIANJIN INTELLIGENT TECH. INSTITUTE OF CASIA Co.,Ltd. |