CN114644240A - A container loading telescopic boom - Google Patents

Abstract

The invention relates to the field of automatic container loading systems, and in particular discloses a container loading telescopic arm, comprising a telescopic arm capable of telescopically changing the length in the container, a support mounting seat for the telescopic arm to be stably installed and supported to realize telescopic action, The extension leveling device of the telescopic arm, the carrying and translation vehicle that moves on the telescopic arm, the telescopic adjustment structure installed on the support mount for driving the telescopic movement of the telescopic arm, and the braking device used to limit the telescopic sliding of the telescopic arm One end of the telescopic arm that can extend into the container is the front end, and the other end is the rear end. between seats. The above-mentioned container loading telescopic arm can realize reasonable, effective, safe and stable mechanical automation for container loading of liquid barrels.

Description

A container loading telescopic boom

technical field

The invention relates to the field of automatic container loading systems.

Background technique

The packaging and transportation of some chemical liquid products are mainly divided into packaging barrels and then loaded into containers for transportation, especially the packaging and transportation of some dangerous chemical liquids. , use needs and other operations, and the sub-packed barrels are loaded into containers. At present, there are very few parts involved in automatic auxiliary loading, mainly manual handling and loading. For larger container loading Therefore, strictly speaking, the existing container loading of hazardous chemical liquids does not have a system device for automatic loading, and Some existing mechanical devices used to assist loading vehicles have little effect on improving efficiency and reducing labor intensity, and have limitations in use, which are inconvenient to use, or even impossible to assist in use at all.

In view of this, the existing container loading methods of chemical liquids need to be improved, and there is an urgent need for an automated system device that can replace manual loading. The inventor of this case has conducted in-depth research and development on the loading process. produce.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a telescopic arm type automatic container loading system which can realize reasonable, effective, safe and stable mechanical automation for container loading of liquid barrels.

In order to achieve the above purpose, the technical scheme of the present invention is: a telescopic arm type automatic container loading system, comprising a container hoisting device, a telescopic arm device, an arrangement conveying device, a palletizing pallet rack, a transfer manipulator and a system control module; The container hoisting device is used to stably suspend the movement of the container, and the telescopic arm device includes a telescopic arm capable of telescopically changing the length in the container, a carrying translation vehicle installed on the telescopic arm to move, and a telescopic arm for stable installation and support. The telescopic support mounting seat, one end of the arrangement conveying device is the inner end of the conveying, which corresponds to between the entrance and exit of the container and the support mounting seat and corresponds to the bottom of the telescopic arm, and the other end is the outer end of the conveying that extends to one side, so The transfer manipulator and the palletizing tray resting table are arranged corresponding to the outer ends of the conveying, the palletizing pallet resting table is used for placing the palletizing pallets, and the transferring manipulator is used for placing the pallets on the pallets and arranging the conveying outer ends of the conveying devices. Item handling and transfer, the arrangement conveying device is used for conveying items on the inner end and the outer end, and the carrying translation vehicle is used for conveying items on the inner end and in the container; the system control module is used for Intelligent control of the entire system.

The container hoisting device includes a gantry frame and a container connecting frame that is connected to the beam of the gantry frame and moves laterally through a traverse drive structure and has a lift drive mechanism for driving the container to move up and down. The lower part of the gantry frame includes a The truck parking area and the container loading and unloading area, the container connecting frame moves back and forth between the truck parking area and the container loading and unloading area.

The transfer manipulator is a multi-axis manipulator, and the working end of the multi-axis manipulator is provided with a composite hand gripping device for grabbing the items of the palletized pallet and the palletizing pallet, and the composite hand gripping device includes a The installation crossbar on the working end of the multi-axis manipulator, the article grabbing mechanism and the tray grabbing mechanism arranged on the installation crossbar, the tray grabbing mechanism and the installation crossbar are connected by setting the frame lifting drive structure, and are driven by the lift The action of the structure drives the pallet grabbing mechanism to ascend and reset relative to the installation cross bar.

The article grabbing mechanism is a handle article grabbing mechanism for grabbing an article with a handle, and the belt handle article grabbing mechanism includes a transfer left drive cylinder and a transfer right drive cylinder that are respectively fixed and installed on the installation crossbar. , Arranged at intervals are multiple sets of double-claw hand grasps hinged on the installation crossbar through hinge rods, and left linkage arms respectively connected to the hinge rods of each group of double-claw hands to grasp the same side claw and connected with the piston rod of the transfer left drive cylinder, The right linkage arm is respectively connected to the hinge rod of each group of double-claw hand grasping the other same side claw and is connected with the piston rod of the transfer right drive cylinder, and drives each group of double-claw hands to grasp synchronously through the movements of the transfer left drive cylinder and the transfer right drive cylinder. The double-claw opening and closing action; the pallet grabbing mechanism includes a connecting frame body, a pallet transfer drive cylinder arranged on opposite sides of the connecting frame body, and a pallet side clamping block respectively arranged on the piston rod of the pallet transfer drive cylinder The piston rods of the tray transfer drive cylinders on the opposite sides of the connection frame are telescopic and movable toward the outside of the connection frame body in opposite directions. A tray clip portion extends downward, and an anti-falling component is provided on the inner side surface of the tray clip portion.

The palletizing tray resting table is equipped with a shaping positioning device for shaping and positioning the items stacked on the palletizing tray. The shaping pushing part and the shaping driving cylinder fixedly arranged on the shaping supporting bracket and whose piston rod is connected to the shaping pushing part, the shaping pushing part comprises a shaping sliding connection part connected with the guide rail slider structure and a shaping sliding connection part connected to the shaping sliding connection part. L-shaped right-angle rod, the piston rod of the shaping drive cylinder is fixedly connected to the outside of the L-shaped two-arm connection of the L-shaped right-angle rod, and the L-shaped two-arm connection of the L-shaped right-angle rod corresponds to the shaping drive cylinder. The movable axis of the rod pushes all the items on the stacking tray to move to the positioning position through the corresponding fitting of the L-shaped right-angle rod with the corner of the items on the stacking tray; The base and the resting conveying device arranged on the resting installation base, one end of the resting conveying device is the resting input end and the other end is the resting positioning end, the L-shaped right-angle rod is set corresponding to a corner of the resting positioning end and its height corresponds to the stacking The bottom layer of barrel material is set on the palletizing pallet, and the L-shaped two arms of the L-shaped right-angle rod cover the adjacent two sides of the barrel material stacked on the palletizing pallet.

The telescopic arm comprises two parallel parallel square steel beams, and the two square steel beams are stably connected by connecting rods; the support mounting seat is provided with a telescopic guide frame for the telescopic arm to pass through, and inside the telescopic guide frame The two sides are respectively provided with a sliding guide limiting structure that can limit the two square steel beams up and down, left and right, and telescopic sliding guide; the support mounting seat is also provided with a telescopic adjustment structure for driving the telescopic movement of the telescopic arm. The adjustment structure includes a hoisting motor fixed on the telescopic guide frame, two telescopic tensioning devices fixed on the telescopic guide frame and corresponding to both ends of the telescopic arm in the telescopic direction, and two telescopic tensioning devices that are connected and wound on the hoisting motor and have two ends respectively. A telescopic pull rope connected to the end of the corresponding telescopic arm is wound around the two telescopic tensioning devices; the telescopic guide frame is installed with a braking device used to limit the telescopic sliding of the telescopic arm.

The telescopic arm device also includes an extension leveling device arranged on the telescopic arm, which is used to maintain the straightness of the telescopic arm after it is extended. One end of the telescopic arm that can extend into the container is the front end, and the other end is the rear The telescopic leveling device includes a leveling connection mechanism that can lift and change the height and a leveling drive mechanism that drives the leveling connection mechanism to lift and lower the height. The leveling connection mechanism is arranged on the extended front end of the telescopic arm. For connecting with surrounding fixed objects, the leveling drive mechanism is provided on the telescopic arm, or the leveling drive mechanism is provided on the support mount for the telescopic arm to support and erect, or the leveling drive mechanism is provided on objects around the telescopic arm.

The leveling connecting mechanism includes a primary lifting structure with elastic tension lifting structure connected with the telescopic arm, a secondary lifting structure connected to the upper end of the primary lifting structure and driven to lift by a leveling drive mechanism, and a secondary lifting structure arranged on the secondary lifting structure The first-level lifting structure includes a first-level scissor fork component, a lifting sliding guide groove component fixed on the side of the telescopic arm, a spring mounting seat and a first-level lifting spring fixed on the telescopic arm, The lower end of the first-level scissor fork part is provided with a first-level lower guide wheel embedded in the lifting and sliding guide groove part to slide, and the other end of the lower part of the first-level scissor fork part is vertically bent and extended upward to form a spring hinge arm, and the vertical bending The fold is hinged with one end of the spring mounting seat, one end of the first-level lifting spring is connected to the spring hinge arm, and the other end is connected to the other end of the spring mounting seat; the leveling drive mechanism includes a fixed installation on the telescopic arm. The leveling hoisting motor and the connection are wound on the leveling hoisting motor and the end is guided through the transition guide wheel to the leveling traction rope connected with the secondary scissor part, and the leveling hoisting motor is hoisted and leveled. The pulling rope achieves the deformation control of the secondary scissor component to realize the lifting action; the telescopic arm is provided with a pulling rope displacement sensor, the leveling pulling rope is provided with a fixed-length block, and the pulling rope displacement sensor is The end of the drawstring is connected to the fixed-length block.

The carrying and translation vehicle includes a profiled steel frame, and the profiled steel frame is divided into a working part installation area and a power installation area on opposite sides. An independent power system that drives the overall movement and provides power for carrying the working device is installed and installed; the outer sides of the other opposite sides of the steel frame are respectively provided with translation pulleys that slide on the slide rails of the telescopic arm, and the translation pulleys are connected with the power The independent power system in the installation area is connected to the transmission. The independent power system includes a contact shrapnel fixed on the steel frame close to the telescopic arm. The independent power system is obtained by sliding contact between the contact shrapnel and the sliding contact line arranged on the telescopic arm. required electric energy; the independent power system also includes a geared motor, an air compressor and an air tank that are fixedly installed on the profiled steel frame to drive the rotation of the translation pulley, and the compressed gas is stored in the air tank when the air compressor is energized. , the gas tank is provided with a gas source processing device, and the carrier working device is connected to the gas source processing device through a pipeline to provide gas kinetic energy; the independent power system also includes a wireless network control processing module for wireless control of the carrier Work.

The carrying working device is a linkage manipulator for grabbing a bucket with a handle. The linkage manipulator includes a linkage installation crossbar fixedly installed and connected, a carrying linkage left drive structure fixed on the linkage installation crossbar, and a carrying mechanism. Linkage right drive structure, multiple sets of carrying double-claw hand grips hinged on the linkage installation crossbar respectively through hinged structure, and hinged structure connecting each group of carrying double-claw hands to grasp the same side claw respectively and with the carrying linkage left drive structure. The carrying left linkage arm connected to the output end, the carrying right linkage arm respectively connected to the hinge structure of each group of carrying double claws grasping the other same side claw and connected with the output end of the carrying linkage right drive structure; The end is an independent conveying section separated from the outer end of the conveying. The bottom of the independent conveying section is connected with a jacking and pushing mechanism for driving the whole lifting and lowering, so as to cooperate with the linkage manipulator to obtain precise clamping action. The outer end of the conveying and the inner end of the conveying One end of the connection is provided with a blocking feeding mechanism that can be lifted and lowered to prevent the articles from being transported into the independent conveying section, and the outer end of the conveying is provided with a blocking quantitative that can be lifted and lowered to block the quantitative during the transportation of the articles. mechanism.

By adopting the above technical scheme, the beneficial effect of the present invention is that in the above-mentioned telescopic arm type automatic container loading system, there is a transfer manipulator to grab the items on the pallet rack and place them on the arranging and conveying device for transportation, and transport them to the carrying translation. The grabbing range of the car, and then the carrying translation car grabs the items into the container and arranges stacking to realize the loading. During the loading process, the stacking position is adjusted by the telescopic arm and the container can be lifted.

The whole system loading process can be fully automated, and can completely replace manual loading without manual participation. The system layout is reasonable and compact, and the above goals and effects can be better achieved. The mechanical structure settings of the above-mentioned further parts make the system have the advantages of being stable, reliable, less prone to failure, and high precision during the working process. It has stable telescopic action, smooth braking, and can be leveled to improve the stacking position accuracy during loading.

Description of drawings

FIG. 1 is a schematic structural diagram of a telescopic arm type automatic container loading system according to the present invention;

FIG. 2 is a schematic structural diagram of the use state of a telescopic arm type automatic container loading system according to the present invention;

Fig. 3 is the structural schematic diagram of the bucket with handle involved in the present invention;

Fig. 4 is the structural schematic diagram of the material barrels stacked on the stacking tray according to the present invention;

FIG. 5 and FIG. 6 are schematic diagrams of different angles of the telescopic tensioning device involved in the present invention;

7 is a schematic diagram of the use and setting structure of the telescopic tensioning device involved in the present invention;

8 is a schematic structural diagram of the braking device involved in the present invention;

FIG. 9 is a schematic diagram of the use setting structure of the braking device involved in the present invention;

10 is a schematic diagram of the use and setting structure of the extension leveling device involved in the present invention;

11 is a schematic structural diagram of the extension leveling device involved in the present invention;

12 is a schematic structural diagram of a first-level lifting structure in the extension leveling device involved in the present invention;

13 is a schematic structural diagram of a secondary lifting structure in the extension leveling device involved in the present invention;

14 is a schematic diagram of the use and setting structure of the carrying translation vehicle involved in the present invention;

15 is a schematic structural diagram of the carrying translation vehicle involved in the present invention;

16 is a schematic structural diagram of the linkage manipulator fetching involved in the present invention;

Fig. 17 is another angular structural schematic diagram taken by the linkage manipulator involved in the present invention;

18 is a schematic structural diagram of the linkage manipulator fetching and independent conveying section involved in the present invention;

Figure 19 and Figure 20 are schematic views of the structure of the composite hand gripping device at different angles involved in the present invention;

Figure 21 is a schematic diagram of the enlarged structure of part A in Figure 19;

22 is a schematic structural diagram of the shaping positioning device involved in the present invention;

FIG. 23 is a schematic structural diagram of the shaping positioning device and the palletizing tray resting platform according to the present invention.

In the picture:

Container Hanging Device 10

Gantry frame 101; traverse drive structure 102; lift drive mechanism 103; container connecting frame 104;

Telescopic arm device 20;

Telescopic arm 1; square steel beam 11; carrying translation vehicle 2; sliding rail g01; sliding contact line g02; steel frame g1; working part installation area g11; working part installation area g12; translation pulley g13; driven pulley g131; driving pulley g132 ; Carrying sliding guide wheel g133; carrying working device g2; linkage installation cross bar d1; carrying linkage left drive structure d2; carrying linkage right drive structure d3; power drive cylinder d231;

Driving block d232; finger cylinder d233; carrying double-claw hand grip d4; linkage L-shaped claw d41; hinge structure d5; carrying left linkage arm d6; carrying right linkage arm d7; hinge block d8; shaft hinge hole d81;

The hinge block locking part d82; the figure-eight fork part d83; the support mount 3; the telescopic guide frame 31;

sliding guide limiting structure 311;

Telescopic adjustment structure 6; hoisting motor 61; shrinking and tensioning device 62;

Horizontal mounting seat a1; side vertical plate a11; adjustment groove a12; sliding shaft rod a13; anti-fall positioning ring a14; adjustment through hole a15; adjustment bolt a16;

Mounting plate a23; tensioning spring a3; upper guide wheel a4; L-shaped fixing frame a5; reinforcing rib plate structure a51;

Reinforced installation arm a52; reinforced rib plate a53; lower guide wheel a6; guide rope hole a61; telescopic pull rope 63; brake device b3; brake drive cylinder b31; ;

Extend the leveling device 7 to level the connecting mechanism f1; the leveling drive mechanism f2; the leveling winch motor f21;

Transition guide wheel f22; leveling pulling rope f23; rope displacement sensor f24; fixed length block f25;

First-level lifting structure f3; first-level scissor fork part f31; first-level lower guide wheel f311; spring hinge arm f312; first-level upper guide wheel f313; lifting sliding guide groove part f32; spring mounting seat f33;

Spring mounting seat vertical plate f331; shaft adjustment groove f332; adjustment sliding shaft f333;

Shaft anti-disengagement positioning ring f334; shaft adjustment through hole f335; shaft adjustment bolt f336;

The primary lifting spring f34; the secondary lifting structure f4; the primary connecting seat f41; the secondary lower sliding groove block f411;

The secondary scissor part f42; the secondary lower guide wheel f421; the secondary upper guide wheel f422; the secondary connecting seat f43; the secondary upper sliding groove block f431; the top connecting part f5;

Arrange the conveying device 30; convey the inner end 4; convey the outer end 5 of the independent conveying section d9; leak-proof sensing equipment d91;

Palletizing tray resting table 40; shaping positioning device 8; shaping support bracket e1; guide rail slider structure e2; shaping pushing part e3; shaping sliding connection part e31; L-shaped right-angle rod e32; shaping drive cylinder e5; Table e4; set aside installation base e41; set aside conveying device e42; set aside input end e43; set aside positioning end e44; set aside conveyor frame e45; set aside conveyor belt e46; set aside conveying transmission mechanism e47;

Transfer manipulator 50; installation cross bar c1; article grabbing mechanism c2; transfer left drive cylinder c21; transfer right drive cylinder c22; hinge rod c23;

Right linkage arm c26; hinge block c27; hinge hole c271; locking part c272; U-shaped fork c273;

Pallet grabbing mechanism c3; connecting frame c31; pallet transfer drive cylinder c32; pallet side clamping block c33;

Tray clip part c331; anti-falling part c332; stroke induction switch c34; lift drive structure c4;

Frame mounting plate c41; lift drive cylinder c42; guide rod guide sleeve guide structure c43;

Container 60; palletizing pallet 70.

Detailed ways

In order to further explain the technical solutions of the present invention, the present invention will be described in detail below through specific embodiments.

A telescopic arm for container loading to be protected by the present invention is clearly embodied by a telescopic arm type automatic container loading system disclosed in this embodiment. As shown in FIGS. 1 to 23 , a telescopic arm type automatic container loading system The system includes a container hanging device 10, a telescopic arm device 20, an arrangement conveying device 30, a palletizing pallet 40, a transfer manipulator 50 and a system control module (not shown in the figure). In this embodiment, the system structure is based on loading. The description of the layout, mechanical structure, and functional use is not limited to the loading and use of the loading system of the present invention, and the use of container unloading can also be realized through the adjustment of the system control module.

As shown in FIG. 1 and FIG. 2 , the system layout structure and function of the present embodiment, the container hoisting device 10 is used to stably hoist the container 60 to move, and the telescopic arm device 20 includes a telescopic arm device 20 capable of being telescopically changed on the container 60 . The telescopic arm 1 with the inner length, the carrier translation vehicle 2 installed on the telescopic arm 1 and moving, and the support mount 3 for the telescopic arm 1 to be stably mounted and supported to realize the telescopic action, one end of the arrangement conveying device 30 corresponds to the inner end 4 of the conveying Between the entrance and exit of the container 60 and the support mounting base 3 and corresponding to the lower part of the telescopic arm 1, the other end of the conveying outer end 5 extends to one side, and the transfer robot 50 and the pallet rack 40 correspond to the outer conveying end 5. Setting, the palletizing pallet resting table 40 is used for placing the palletizing pallet 70, and the transfer robot 50 is used for conveying and transferring the articles on the palletizing pallet 70 and the conveying outer end 5 of the arrangement conveying device 30. The arrangement conveying device 30 is used for conveying the items on the inner end 4 and the conveying outer end 5, and the carrying translation vehicle 2 is used for conveying the items on the inner end 4 and the container 60. Intelligent control of the entire system. In this way, the loading height of the container 60, the left-right correspondence, and the telescopic arm 1 telescopically adjust the depth position in the container 60 in real time during the loading process, and the items to be loaded are stacked on the stacking tray 70 and placed on the stack On the pallet resting platform 40, the items on the pallet resting platform 40 are transferred to the arranging and conveying device 30 by the transfer manipulator 50, and are transported to the station in a neat and orderly arrangement, so as to facilitate the precise grasping of the carrying translation vehicle 2, The carrier translation vehicle 2 grabs the arranged items into the container 60 and places them in an orderly arrangement, stacking and placing, so as to achieve automatic loading.

As shown in FIG. 1 and FIG. 2 , the container hoisting device 10 includes a gantry frame 101 and is connected to the beam of the gantry frame 101 through a traverse drive structure 102 to move laterally, and has a lift drive mechanism for driving the container 60 to move up and down. The container connecting frame 104 of 103 is connected to the container 60 through the container connecting frame 104 to realize the hoisting of the container 60, and the horizontal movement driving structure 102 and the lifting driving mechanism 103 realize the lifting and adjusting movement of the container and the left and right lifting during the loading process. In the example, the lower part of the gantry frame 101 includes a truck parking area and a container loading and unloading area, and the container connecting frame 104 moves back and forth between the truck parking area and the container loading and unloading area, which not only facilitates the lifting and moving of the container 60, but also facilitates the movement of the container 60. Parking of container trucks.

As shown in Figures 1 and 7, the telescopic arm 1 includes two parallel square steel beams 11. The two square steel beams 11 are stably connected by connecting rods and are made of steel beams. Minimize the gravitational bending deformation of the longer telescopic arm 1 and reduce the overall weight of the telescopic arm; the support mount 3 is provided with a telescopic guide frame 31 for the telescopic arm 1 to pass through, and the telescopic guide frame 31 is A frame structure made of steel material, a side-penetrating structure is formed in the frame structure for the telescopic arm 1 to pass through for telescopic movement inside, and two sides in the frame structure are respectively provided with two square steel beams 11 to limit up and down, left and right, and telescopic sliding. The sliding guide defining structure 311 with guiding function, as shown in the figure, is a telescopic sliding guide wheel provided corresponding to the outer side surface and the lower surface of the two square steel beams 11 .

The support mount 3 is provided with a telescopic adjustment structure 6 for driving the telescopic arm 1 to telescopically move. As shown in FIG. 1 , the telescopic adjustment structure 6 includes a hoisting motor 61 fixed on the telescopic guide frame 31, a fixed The two telescopic tensioning devices 62 installed on the telescopic guide frame 31 and corresponding to both ends of the telescopic arm 1 in the telescopic direction are connected and wound on the hoisting motor 61 and are respectively wound around the two telescopic tensioning devices 62 at both ends to be pulled to the corresponding two ends. The telescopic pull rope 63 connected to the end of the telescopic arm 1; when the telescopic arm 1 needs to be telescopically adjusted, start the hoisting motor 61 to work forward or reverse to pull the telescopic pull rope 63. During the pulling process, the telescopic pull rope 63 is pulled by the telescopic The tensioning device 62 maintains the tension so that the telescopic arm 1 can be adjusted smoothly and accurately.

The telescopic tensioning device 62 in this embodiment is a tensioning device especially used for the telescopic adjustment of the telescopic arm that is relatively large and long and has a long telescopic adjustment displacement distance. Its structure is shown in Figures 1, 5 and 6 It includes a horizontal mounting seat a1, an L-shaped hinge frame a2, a tension spring a3, an upper guide wheel a4, an L-shaped fixed frame a5, and a lower guide wheel a6. The horizontal mounting seat a1 is used for fixed installation on the telescopic guide frame 31 and for connection and installation with other components, as shown in the figure, it has a rectangular mounting base plate; the L-shaped two arms of the L-shaped hinge frame a2 are connected. The shaft is hinged on one end of the horizontal mounting seat a1 and the L-shaped concave inner corner of the L-shaped concave inner corner is facing upwards away from the horizontal mounting seat a1. The specific structure is shown in the figure. The structure of the L-shaped hinge frame a2 In order to include two L-shaped rods a21 arranged at intervals, the L-shaped arm ends of the two L-shaped rods 21 toward the other end of the horizontal mounting seat a2 are connected by a connecting rod a22, and the corresponding other arm ends of the two L-shaped rods are connected by a mounting plate a23 connect. One end of the tensioning spring a3 is connected to the L-shaped arm of the L-shaped hinge frame a2 facing the other end of the horizontal mounting seat a1, that is, an arm with a connecting rod a22, and the end of the tensioning spring a3 is an annular ring sleeved on the connecting rod. On a22, the other end of the tensioning spring a3 is connected to the other end of the horizontal mounting seat a1. In this embodiment, the end is connected through the following structure: the tension-adjustable position adjustment structure is connected to the horizontal On the mounting seat a1, the position adjustment structure is that the horizontal mounting seat a1 is provided with two side vertical plates a11 opposite at intervals, and the two side vertical plates a11 are correspondingly provided with adjustment grooves a12, and the tension spring a3 The other end is provided with an annular ring on a sliding shaft a13, the two ends of the sliding shaft a13 are penetrated in the adjustment groove a12, and the two ends are respectively provided with the outer surface of the side vertical plate a11. The anti-disengagement positioning ring a14, one end of the adjustment groove a12 is provided with an adjustment through hole a15, an adjustment bolt a16 is pierced in the adjustment through hole a15, and the end of the adjustment bolt a16 that penetrates into the adjustment groove a12 passes through The threaded screw structure is connected to the sliding shaft a13, and the other end of the adjustment bolt a16 is the adjustment end for adjustment operation. When the tension needs to be further adjusted, the sliding shaft a13 is driven to move in the adjustment groove a12 by rotating the adjustment bolt a16 The position can be adjusted, the operation is simple, and the structure is stable. The upper guide wheel a4 is erected on the other L-shaped arm of the L-shaped hinge frame a2, that is, it is mounted on the corresponding arm of the two L-shaped rods provided with the mounting plate a23 through the shaft frame, and is arranged on the mounting plate a23. on the side facing down. The structure of the L-shaped fixed frame a5 is two arm plates corresponding to its L-shaped two arms, and the end of the L-shaped one arm is fixedly connected to one end of the horizontal mounting seat a1 on which the L-shaped hinge frame a2 is hinged, and the arm plate is provided. There is a reinforcing rib plate structure a51 for stable connection with the horizontal mounting seat a1 and the frame driven by the telescopic arm telescopically. The plate is provided with a reinforced installation arm a52 that constitutes installation and reinforcement for connecting and supporting the frame driven by the telescopic arm telescopic drive, and a reinforcing rib plate a53 is also provided between the two arm plates, which can better strengthen the structural strength and can withstand higher traction and pulling power. The lower guide wheel a6 is erected on the arm of the L-shaped fixed frame a5 facing away from the L-shaped hinge frame a2, that is, the arm plate facing downward. In this embodiment, the lower guide wheels a6 are erected two side by side at intervals On the arm plate facing downward, that is, the two lower guide wheels a6 are respectively erected on both sides of the arm plate provided with the reinforced mounting arm a52 through the shaft rod, and the two lower guide wheels a6 and the upper guide wheel a4 are arranged corresponding to the same plane , the upper guide wheel a4 on the two arm plates is provided with a through-connected guide rope hole a61 for the telescopic pull rope 63 that drives the telescopic arm 1 to stretch and retract. The specific winding structure is shown in the figure.

The above-mentioned structure of the telescopic tensioning device 62, the upper guide wheel is installed on the L-shaped hinge frame, and the lower guide wheel is installed on the L-shaped fixed frame. Through the structure itself, a larger space for tension adjustment can be achieved, and the L-shaped hinged frame is hinged and swingable, and the swing range is large, which can further make the upper guide wheel and the lower guide wheel have a larger space. Larger tension adjustment activity space, and the elastic tension achieved by the tension spring can also provide a large range of elastic force, so as to realize the tension effect. The above tension spring is also installed through the position adjustment structure and horizontal installation. Therefore, the above structure can realize the tension adjustment of a large distance to meet the needs of use, and is especially suitable for the use of telescopic and tensioning drives with long telescopic arms. , The overall structural strength is high, which can achieve the structural strength required for the drive adjustment of a larger and longer telescopic arm, and achieve a better tensioning effect.

The telescopic guide frame 31 is provided with a braking device b3 for limiting the telescopic sliding of the telescopic arm 1, as shown in Figure 1, Figure 7, Figure 8 and Figure 9, installed on the telescopic guide frame 31, corresponding to the square steel beam 11, its structure includes a brake drive cylinder b31 hinged on the telescopic guide frame 31, a drive arm b32 hinged on the telescopic guide frame 31 and the other end hinged on the brake drive cylinder b31, and a drive arm b32 connected to the drive arm b32 and connected to the drive arm b32. Corresponding to the brake block b33 on the surface of the telescopic arm 1, specifically, as shown in the figure, the brake drive cylinder b31 is fixedly arranged on the end surface of the telescopic guide frame 31 corresponding to the telescopic direction of the telescopic arm 1. Hinged on the telescopic guide frame 31, one end of the driving arm b32 hinged on the telescopic guide frame 31 is hinged on the telescopic guide frame through the hinge seat b35 fixed on the upper side of the telescopic guide frame 31 for the telescopic arm 1 to pass through. 31, the brake block b33 is fixedly arranged on the side of the driving arm b32 facing the telescopic arm b2 and close to one end of the hinge seat b35, the structure is set up firmly, and the driving force of the brake driving cylinder b31 can be well transferred to the brake. The block b33 exerts pressure, with high structural strength and stable braking; the brake block b33 can be made of nylon brake block b33, which is a better material that can help provide braking effect. Also, as shown in the figure As shown, the driving arm b32 and the brake block b33 correspond to the inner top surface of the telescopic guide frame b1 above the upper surface of the square steel beam b21, the braking position is inside the telescopic guide frame b1, and the structure is not easily damaged by external environmental factors . In addition, the setting position and number of the braking device b3 can be installed and set according to the size of the overall mechanical device. For example, the braking device b3 on the telescopic guide frame b1 corresponds to one end of the telescopic arm b2 in the telescopic direction corresponding to two square steel beams respectively. There are 2 groups of b21, which can achieve smooth and balanced braking. As shown in the figure, on the telescopic guide frame b1 corresponding to the two ends of the telescopic arm b2 in the telescopic direction, there are 4 groups of two square steel beams b21. , The braking strength is high, and it is very stable, especially suitable for the braking setting of the longer and heavier telescopic arm b2.

The brake block of the brake device b3 of the above structure is arranged on the driving arm, and one end of the driving arm is fixed and hinged, and the other end is hinged with the brake driving cylinder. The effect of increasing friction braking is achieved on the surface of the arm. According to the structure of the telescopic arm, the braking device can be set at multiple positions, so that the braking effect can achieve fast braking and smooth braking. For the use of long and heavy telescopic arm braking, the device b3 can easily and smoothly achieve the pressing braking pressure acting on the brake block, and the brake block can maximize the resistance and achieve braking. In addition, the above structure The structure of the braking device b3 is simple and easy to implement, and it is not easy to damage and more durable for the braking of high-quality components.

The telescopic arm device 20 also includes an extension leveling device 7 arranged on the telescopic arm 1, as shown in Figure 1, Figure 10-Figure 13, for keeping the telescopic arm 1 straight after the extension, so One end of the telescopic arm 1 that can extend into the container is the front end, and the other end is the rear end. The telescopic leveling device 7 includes a leveling connection mechanism f1 and a leveling drive mechanism f2, and the leveling connection mechanism f1 can be raised and lowered. The structure of changing height, the lower part is arranged on the front end of the telescopic arm 1, the upper part is used to connect with the surrounding fixed objects, here is mainly the upper part of the container 60, the leveling drive mechanism f2 is used to drive according to needs The leveling connection mechanism f1 lifts and changes the height. The structure in the figure is that the leveling connection mechanism f1 is arranged on the telescopic arm 1 and is arranged by the other end of the telescopic arm 1. In this way, the leveling driving mechanism f2 is used to drive and change the leveling connection mechanism. The height of f1 is such that the upper part can be connected to the upper part of the container 60 and the height of the telescopic arm 1 can be adjusted to be straight. As shown in the figure, the leveling connecting mechanism f1 includes a primary lifting structure f3 with elastic tension lifting structure connected to the telescopic arm f0, and a second lifting structure connected to the upper end of the primary lifting structure f3 and driven by the leveling drive mechanism f2 to lift. The secondary lifting structure f4 and the top connecting member f5 arranged on the secondary lifting structure f4. In this embodiment, the top connecting member f5 is an electromagnetic adsorption member, and the electromagnetic adsorption member is used to generate a magnetic and adsorbable fixed metal by energizing it. Adsorbed and connected together, such as the inner top surface of the container, close to the power supply to realize the connection without other connection operations, which is more convenient to use, and the first-level lifting structure f3 of the specific elastic tension lifting structure can maintain the upward top. It is beneficial to the magnetic proximity adsorption connection and the stability of the adsorption connection.

The first-level lifting structure f3, as shown in the figure, includes a first-level scissor part f31, a lifting and sliding guide groove part f32 fixed on the side of the telescopic arm 1, and a spring mounting seat fixed on the telescopic arm f0 f33 and the first-level lifting spring f34, the lower end of the first-level scissor part f31 is provided with a first-level lower guide wheel f311 embedded in the lifting and sliding guide groove part f32 to slide, and the other end of the lower part of the first-level scissor part f31 is vertical The bending extends upward to form a spring hinge arm f312, and the vertical bend is hinged with one end of the spring mounting seat f33. On the other end, the scissors part f31 has the effect of elastic tension. Through this structure, the primary lift spring f34 elastically pulls the hinged end of the lower fixed position of the primary scissors part f31, so that the primary scissors part f31 can be In the ascending state, when the first-stage scissor member f31 receives downward pressure, the first-stage lift spring f34 can be stretched, and the first-stage lower guide pulley f311 can slide to be compressed and deformed. Further in this embodiment, as shown in the figure, the structure in which the other end of the first-stage lifting spring f34 is connected to the other end of the spring mounting seat f33 is that the spring mounting seat f33 is provided with two oppositely spaced spring mounting seats The vertical plate f331 and the two spring mounting bases are respectively provided with a shaft adjustment groove f332 on the vertical plate f331. The other end of the first-stage lifting spring f34 is connected to an adjustment sliding shaft f333. The end is drilled in the shaft adjustment groove f332 and is provided with a shaft rod anti-disengagement positioning ring f334. One end of the shaft adjustment groove f332 is provided with a shaft adjustment through hole f335, and the shaft adjustment through hole f335 is drilled in the through hole f335. There is a shaft adjustment bolt f336, the end of the shaft adjustment bolt f336 that penetrates into the shaft adjustment groove f332 is connected to the adjustment sliding shaft f333 through a threaded screwing mechanism, and the other end of the shaft adjustment bolt f336 is for adjustment The adjustment end of the operated shaft can be adjusted by rotating the shaft adjustment bolt f336 to drive the adjustment sliding shaft f333 to move in the shaft adjustment groove f332 when the elastic tension needs to be further adjusted. The operation is simple and the structure is stable.

The secondary lifting structure f4 disclosed in this embodiment, as shown in the figure, includes a primary connecting seat f41 connected to the upper end of the primary scissor part f31, and a secondary scissor part f42 connected to the primary connecting seat f41 and a second-level connecting seat f43 connecting the upper end of the second-level scissor part f42, one end of the bottom of the first-level connecting seat f41 is hinged with the upper end of the first-level scissor part f31, and the other end of the upper part of the first-level scissor part f31 is set. A first-level upper guide wheel f313 slides on the bottom surface of the first-level connecting seat f41, the side of the first-level connecting seat f41 is provided with a second-level lower sliding groove block f411, and the lower ends of the second-level scissor part f42 are respectively provided with A second-level lower guide wheel f421 is embedded in the second-level lower sliding groove block f411 to slide. The side of the second-level connecting seat f43 is provided with a second-level upper sliding groove block f431. The ends are respectively provided with a secondary upper guide wheel f422 embedded in the secondary upper sliding groove block f431 to slide, the top connecting member f5 is fixed on the top surface of the secondary connecting seat f43, and is controlled by the leveling drive mechanism f2 to drive Adjusting the sliding distance between the lower ends of the secondary scissor part f42 in the secondary lower sliding groove block f411, so as to drive the lift of the top connecting part f5, the adjustment structure is simple, easy to implement, and the action changes are stable.

The leveling drive mechanism f2 disclosed in this embodiment, as shown in the figure, includes a leveling hoisting motor f21 that is fixedly installed on the other end of the telescopic arm 1 and a leveling hoisting motor f21 that is connected and wound on the leveling hoisting motor f21. The part is guided by the transition guide wheel f22 to the leveling traction rope f23 connected with the secondary scissor part f42. The motor f21 is driven synchronously. The leveling force and load of this structure are larger and more balanced. The leveling device 7 extends out from the square steel beam 11 and pulls out the leveling pulling rope f23. It is connected to the leveling hoisting motor f21, and the leveling hoisting motor f21 is used to lift the leveling pulling rope f23 to achieve the deformation control of the secondary scissor part f42, realize the lifting action, and realize the height adjustment and change. The embodiment is further provided with a cable displacement sensor f24 on the telescopic arm 1, and a fixed-length block f25 on the leveling traction cable f23. The long block f25 is connected, and the pull rope of the pull rope displacement sensor f24 is pulled by the position movement of the fixed length block f25, and the length change is obtained to meet the control requirements.

The above structure is provided with the extension leveling device 7. When the container is loaded and used, after the telescopic arm is retracted into the container to reach the required depth, the height of the leveling connecting mechanism is firstly adjusted by the leveling drive mechanism so that the height can reach the upper level. It is connected with the top surface of the container. After connecting, the leveling connection mechanism can pull the telescopic arm to prevent it from sagging again. The leveling drive mechanism can be used to adjust the pull-up telescopic arm, and the telescopic arm with sagging deformation can be adjusted to straight state. The overall mechanical structure is stable, not prone to failure, smooth and stable action, reliable use effect, simple automatic operation procedure of machinery, and easy realization of mechanical manufacturing.

The carrying translation vehicle 2, as shown in Figures 14 and 15, includes a steel frame g1, which is divided into a working part installation area g11 and a power installation area g12 on opposite sides, and the working part installation area g12 is used for For installing and setting the carrying work device g2 for carrying materials, the power installation area g11 is used to install and set an independent power system g3 that drives the overall movement and provides power for the carrying work device g2; the outer sides of the other opposite sides of the profiled steel frame g1 A translation pulley g13 sliding on the slide rail g01 of the telescopic arm g0 is respectively provided, and the translation pulley g13 is connected to the independent power system g3 of the power installation area g12 for transmission, and the independent power system g3 includes a fixed connection close to the telescopic arm g0 The electrical energy required by the independent power system g3 is obtained by sliding contact between the contact elastic sheet g31 arranged on the profiled steel frame g1 and the sliding contact wire g02 arranged on the telescopic arm g0 through the contact elastic sheet g31. In order to facilitate the control of the carrying translation vehicle in use, the independent power system g3 may include a wireless network control processing module (not visible in the figure) for wirelessly controlling the carrying work. The independent power system g3 also includes a deceleration motor g32, an air compressor g33 and a gas tank g34 that are fixedly installed on the profiled steel frame g1 for connecting to drive the translation pulley g13 to rotate, and the air compressor g33 is energized. Inside the gas tank g34, the gas tank g34 is provided with a gas source processing device g35, and the carrier working device g2 is connected to the gas source processing device g35 through a pipeline to provide gas kinetic energy.

The deceleration motor g32 is connected with a bidirectional transmission device g36 that is fixedly arranged on the steel frame g1 between the two translation pulleys g13. The bidirectional transmission input end is connected to the output end of the deceleration motor g32 for transmission. The two outputs of the bidirectional transmission device g36 The ends are connected and driven with the translation pulley g13 on the corresponding side through the long semi-shaft g37 and the universal joint g38 respectively. The translation pulley g13 includes a driven pulley g131 and a driving pulley g132 that are arranged at opposite ends of the same side and slide on the slide rail g01 of the telescopic arm g0, and the driving pulley g132 is connected to the corresponding universal coupling g38 for transmission, The translation pulley g13 also includes a carrying sliding guide wheel g133 which is provided at opposite ends of the same side and slides on the sliding rail g01 of the telescopic arm g0.

The carrying translation vehicle 2 with the above-mentioned structure is equipped with an independent power system which can provide the moving power of the carrying translation vehicle and the working power for carrying materials. Therefore, the carrying translation vehicle does not need a transmission moving mechanism through a complex connection relationship with the telescopic arm. To achieve translation and carry the working device, it is not necessary to connect the unexpected driving energy of the carrying translation vehicle to achieve work, and the independent power system obtains electric energy through the contact between the contact shrapnel and the trolley wire. Conductive wire, there are no moving parts that follow the movement of the carrier translation vehicle, which can solve the problem that some existing carrier translation vehicles are not suitable for the application of telescopic movable telescopic arms, and can solve the problem in the mechanism setting of the transmission translation and the power Limitations and issues with connection settings. In addition, the structural arrangement of the above-mentioned carrying and translation trolley is balanced and reasonable, so that the overall structure of the carrying and translation trolley can be stable and stable in carrying and moving, and failures are not easy to occur.

The carrying work device g2 is a linkage manipulator for grabbing a bucket with a handle. As shown in Figures 15-18, the linkage manipulator includes a linkage installation crossbar d1 that is fixedly installed and connected to the carrying translation trolley 2. , The carrying linkage left drive structure d2 and the carrying linkage right drive structure d3, which are fixedly arranged on the linkage installation crossbar d1, are arranged at intervals and are respectively hinged on the linkage installation crossbar d1 through the hinge structure d5. Respectively connect the hinge structure d5 of the same side claw of each group of carrying double claw hand grasping d4 and the carrying left linkage arm d6 connected with the output end of the carrying linkage left driving structure d2, respectively connect the other same side claw of each group of carrying double claw hand grasping d4 The carrying right linkage arm d7 is connected with the output end of the carrying linkage right driving structure d3; through the actions of the carrying linkage left driving structure d2 and the carrying linkage right driving structure d3, it synchronously drives each group of carrying double-claw hands to grasp d4. The double-claw opening and closing action can achieve the synchronous opening and closing action to grab multiple buckets. The linkage structure principle is clearly understood through the above description and drawings, and will not be repeated here. The mechanical linkage is stable and the action is unified.

In order to achieve stable grasping of the bucket with handle, as shown in the figure, the claw carrying the two-hand grasping d4 is a linkage L-shaped claw d41, the ends of the L-shaped transverse arms of the two linkage L-shaped claw d41 are opposite, and the L-shaped vertical The upper end of the arm is fixedly connected to the hinge structure d5, and the rotation of the corresponding hinge structure d5 drives the swing of the two linkage L-shaped claws d41 to realize opening and closing. The meshing concave-convex structure can improve the closing stability when grasping. In addition, in order to lift the linkage manipulator hand to be able to correspond to the recessed position of the bucket handle when it is lowered to grab the bucket, the hinge structure d5 is hinged on the linkage installation crossbar through the hinge block d8 fixedly connected to the linkage installation crossbar d1 On d1, the hinge block d8 includes two side-by-side hinged structures d5 for the two claws on the same carrying double-claw hand to grasp d4 (the hinged structure d5 in the figure is a shaft to achieve hinged connection) through the shaft hinge hole d81. , The two opposite sides respectively extend and protrude the hinge block locking part d82 for locking and connecting with the linkage installation cross bar d1 and the eight-shaped fork part d83 corresponding to the two shaft rod hinge holes d81 below, the eight-shaped fork part d83 The figure-eight opening is downward, and the structure is provided with the function of adapting to the structure of the material barrel, avoiding collision and introduction. When the two-link L-shaped claws d41 are closed, the two-link L-shaped claws d41 correspond to the figure-eight fork. The figure-eight opening of d83, in this way, the setting of the hinge structure d5 will not cause obstruction when grasping. In addition, in order to achieve better synchronous linkage, and to make the opening and closing action distances of each carrying double-claw hand grasp the same, so as to maintain the precise alignment of the movements, the carrying linkage left driving structure d2 and the carrying linkage right driving structure d3 respectively include: There is a power drive cylinder d231 and a drive block d232 connected to the power drive cylinder d231 for connecting to drive the left link arm d6 or the right link arm d7, and a drive block d232 is connected between the two drive blocks for synchronizing the two drive blocks d232. The actuating finger cylinder d233, through this structure, the two power drive cylinders d231 mainly pneumatically push the power of the linkage, and the setting of the finger cylinder d233 can ensure the same telescopic sliding distance on the left and right sides; this structure is also conducive to simplifying the mechanical structure setting The utility model is conducive to the stable and reliable grasping of multiple items with handles at the same time, the structure is simple and easy to manufacture and realize, and the failure is not easy to occur.

For the linkage manipulator with the above structure, the linkage installation crossbar is provided with multiple sets of carrying double-claw hand grasping, and all the carrying double-claw grasping is driven by the same driving structure, the linkage effect is good, and the action is unified, which is conducive to maintaining grasping. The consistency of the barrels is kept accurate, so that better synchronous linkage can be achieved, and the work application of stably grabbing multiple barrels can effectively improve the efficiency of handling and loading. In addition, the linked driving method can simplify the structure, reduce the setting of the driving transmission structure and the driving equipment, so that the weight of the entire linked manipulator can be reduced, the structure is simpler, and it is easy to manufacture and realize. .

Considering that some multi-axis manipulators and mobile trolleys have different working actions, for example, multi-axis manipulators can drive the linkage manipulator to lift and lower, while some mobile trolleys cannot move up and down due to reciprocating movement, so there will be a need. The material bucket can be raised and lowered to avoid collision with the material bucket when the linkage manipulator moves back and forth, and can correspond to the handle position on the material bucket. Therefore, this embodiment is further provided with the following structure. The inner conveying end 4 of the arrangement conveying device 30 is an independent conveying section d9 separated from the outer conveying end 5, as shown in FIG. 18, the independent conveying section d9 is provided with a conveying positioning blocking structure, as shown in the figure Yes, baffles are provided at the conveying end and the left and right sides of the independent conveying section d9, and the baffles are used to maintain the orderly arrangement of the conveying and stop the advance in place. In order to prevent the situation of missing in the middle when there are multiple neat arrangements, resulting in the subsequent leakage problem, the independent conveying section d9 can be provided with a leak-proof sensing device d91 for sensing the position of each material bucket arranged separately. Explain, for the bucket shown in the figure, according to its size and capacity, the strength and power strength of the linkage manipulator and the mechanical structure and the needs of work use, preferably, the carrying double-claw hand grasp d4 can be installed in the linkage. 5-10 groups are set on d1, and the corresponding number of the leak-proof sensing devices is set. As shown in the figure, the synchronous linkage grabs 8 buckets, and the leak-proof sensing device d91 is 8 set in a one-to-one correspondence. . In addition, the bottom of the independent conveying section d9 is connected with a lifting and pushing mechanism d92 for driving the overall lifting and lowering of the independent conveying section d9. During the lifting and lowering, the linkage installation crossbar d1 may be provided with a moving position sensing device to avoid collision during lifting or translation.

In this embodiment, a feeding blocking mechanism that can lift up and down is provided on the end of the conveying outer end 5 connected with the conveying inner end 4 to prevent the articles from being conveyed into the independent conveying section d9. It can be provided with a blocking and quantitative mechanism that can lift up and down for blocking and quantitative blocking during the conveying process of the article.

The linkage manipulator with the above structure has good linkage effect and unified action, which is conducive to maintaining the consistency and accuracy when grabbing the barrels, so as to achieve the work application of synchronous linkage and stable grabbing of multiple barrels, which can effectively improve the handling equipment. car efficiency. In addition, the linked driving method can simplify the structure, reduce the setting of the driving transmission structure and the driving equipment, so that the weight of the entire linked manipulator can be reduced, the structure is simpler, and it is easy to manufacture.

The transfer manipulator 50 is a multi-axis manipulator, and the working end of the multi-axis manipulator is provided with a composite hand grasping device for grabbing the items in the palletizing tray 70 and the palletizing tray 70, as shown in Figure 1, Figure 19-Figure 21 As shown, the composite hand grasping device includes a mounting crossbar c1 for fixed connection with the working end of the multi-axis manipulator, an item grabbing mechanism c2 and a tray grabbing mechanism c3 arranged on the mounting crossbar c1. The picking mechanism c2 grabs and stacks the items on the palletizing tray to the subsequent work station to be carried out, and the pallet grabbing mechanism c3 is used to grab the pallet 70 of the items that have been grabbed for stacking or stacking. Move position on hold. As shown in the figure, since the article grabbing mechanism c2 in this embodiment is used for grabbing the bucket with the handle, the article grabbing mechanism c2 is the article grabbing mechanism with the handle for grabbing the article with the handle, The belt-handled article grabbing mechanism includes a transfer left drive cylinder c21 and a transfer right drive cylinder c22 that are respectively fixed and installed on the installation crossbar c1, and a plurality of sets of double claws that are arranged at intervals and are hinged on the installation crossbar c1 through a hinge rod c23. Hand grasping c24 and the left linkage arm c25 connecting the hinge rod c23 of the same side claw of each group of double claw hand grasping c24 and connecting with the piston rod of the transfer left driving cylinder c21, respectively connecting the other same side claw of each group double claw hand grasping c24 The right linkage arm c26 connected with the hinge rod c23 and the piston rod of the transfer right drive cylinder c22, through the movement of the transfer left drive cylinder c21 and the transfer right drive cylinder c22, synchronously drives the double-claw opening and closing action of each group of double-claw hand grasping c24 , through the above structure, so as to achieve synchronous opening and closing action to grab multiple buckets, the principle of the linkage structure is clearly understood through the above content description and drawings, and will not be repeated here, it should be noted that the article grabbing mechanism c2 is in When the grabbed article is transferred, the tray grabbing mechanism c3 is in a relatively rising state, and the specific implementation structure will be described in detail later. In order to achieve stable grasping of the bucket with handle, as shown in the figure, the claws of the two-hand grasping c24 are L-shaped claw c241, the ends of the L-shaped transverse arms of the two L-shaped claws c241 are opposite to each other, and the upper end of the L-shaped vertical arm is fixed. It is connected to the hinge rod c23, and the swing of the two L-shaped claws c241 is driven by the rotation of the corresponding hinge rod c23 to realize the opening and closing. It can improve the closing stability when grasping. In this embodiment, in order to improve the position of the recessed position corresponding to the handle of the bucket when the bucket is lowered and grabbed, the hinged rod c23 is hinged on the installation crossbar c1 through the hinge block c27 fixedly connected to the installation crossbar c1, so The hinge block c27 includes two side-by-side hinge holes c271 through which the hinge rods c23 of the two claws on the same double-claw hand grasp c24, and two opposite sides respectively extending and protruding for locking and connecting with the installation crossbar c1. part c272 and a U-shaped fork part c273 corresponding to the two hinge holes c271 below, the U-shaped two vertical arms of the U-shaped fork part c273 are in a tapered structure and the U-shaped opening is in the shape of a downward bell mouth. The structure is provided with Adapt to the structure of the material barrel to avoid the effect of collision and introduction. When the two L-shaped claws c241 are closed with both hands grasping c24, the two L-shaped claws c241 correspond to the U-shaped opening of the U-shaped fork c273. In this way, the setting of the hinge block c27 is not It will cause obstruction when grabbing.

In addition, the tray grabbing mechanism c3 is connected with the installation crossbar c1 by setting the frame lifting drive structure c4, and the tray grabbing mechanism c3 is driven by the movement of the lift drive structure c4 to move up and reset relative to the installation crossbar c1 . As shown in the figure, the tray grabbing mechanism c3 includes a connecting frame c31, a tray transfer driving cylinder c32 disposed on opposite sides of the connecting frame c31, and a tray side respectively disposed on the piston rod of the tray transfer driving cylinder c32. The side clamp block c33, the piston rod of the tray transfer drive cylinder c32 on the opposite sides of the connection frame c31 is telescopic and movable toward the outside of the connection frame body c31 in the opposite direction, and the upper end of the tray side clamp block c33 is connected to the tray transfer. On the piston rod of the driving cylinder c32, the lower end extends downwards from a pallet clip portion c331, the inner side surface of the pallet clip portion c331 is provided with an anti-drop component c332, and the anti-drop component c332 can be adapted to the side structure of the pallet. When grabbing the pallet, all pallet transfer drive cylinders c32 act to push out the pallet side clamps c33, and the robotic arm descends so that the pallet side clamps c33 on both sides correspond to the pallets respectively. On the opposite sides of the two sides, the connecting frame c31 here can be provided with a travel sensing switch c34 for sensing in place when descending. After the travel sensing switch c34 senses in place, the robotic arm stops descending, and then the pallet transfer drive cylinder c32 can be controlled to move and retract. Return to the pallet side clamping block c33, so as to clamp the palletizing pallet for movement, otherwise, put down the palletizing pallet. In the frame lift drive structure c4 disclosed in this embodiment, a frame body mounting plate c41 is provided on the connection frame body c31, and a frame body lift drive cylinder c42 is provided on the frame body mounting plate c41. The piston rod of the elevating drive cylinder c42 is downwardly connected to the installation crossbar c1, and a guide rod guide sleeve guide structure c43 that cooperates with each other is provided between the installation crossbar c1 and the frame body mounting plate c41, so that when it is necessary to control the pallet grabbing When the fetching mechanism c3 rises, the action of the frame lift driving cylinder c42 can push the tray grabbing mechanism c3 upward as a whole, and it rises stably under the guiding action of the guide rod guide sleeve guide structure c43.

The composite hand gripping device with the above structure is combined with an item grabbing mechanism for grabbing items and a pallet grabbing mechanism for grabbing a pallet, so that it can be used for palletizing pallets and can also be palletized on palletizing pallets. It can reduce labor and equipment configuration. The action of the above-mentioned article grabbing mechanism is a linkage to realize the synchronous hand grabbing action of multiple articles with a handle, which is conducive to simplifying the mechanical structure setting and is conducive to grasping the clips at the same time at one time. The grabbing of a plurality of items with handles is stable and reliable, the structure setting is simple and easy to manufacture, and failure is not easy to occur. When grabbing a plurality of belt-handled items, it rises, which avoids affecting the normal grabbing work of the item grabbing mechanism. The overall gripping structure of the robotic arm is stable, easy to use, stable and reliable.

The palletizing tray resting table 40 is equipped with a shaping and positioning device 8 for shaping and positioning the items stacked on the pallet. 8. It includes a shaping support bracket e1, a shaping pushing member e3 connected to the shaping supporting bracket e1 through the guide rail slider structure e2, and a shaping driving cylinder e5, which is fixedly arranged on the shaping supporting bracket e1 and whose piston rod is connected to the shaping pushing member e3. During positioning and use, the shaping and pushing member e3 is pushed out by the action of the shaping driving cylinder e5 under the guide limit of the guide rail slider structure e2 to carry out shaping work. The shaping sliding connection part e31 connected by the structure e2 and the L-shaped right-angle rod e32 connected on the shaping sliding connection part e31, the piston rod of the shaping driving cylinder e5 and the L-shaped two-arm connection of the L-shaped right-angle rod e32 are outside. Fixed connection, and the L-shaped two-arm connection of the L-shaped right-angle rod e32 corresponds to the active axis of the piston rod of the shaping drive cylinder e5, which can ensure the balanced effect of the driving force. The L-shaped two arms of the L-shaped right-angle rod e32 The length can be the same as the length of the adjacent two sides of the corresponding stacking pallet. When in use, the L-shaped right-angle rod e32 is set on the outside of one corner of the corresponding stacking barrel material. The arm wraps the adjacent two sides of the barrel material stacked on the pallet to push, shape, adjust and position. The shaping and positioning device 8 provided with the above-mentioned structure has a simple and stable overall structure, and the L-shaped structure of the L-shaped right-angle rod of the shaping and pushing part is particularly suitable for the overall holding and pushing of the barrel material after stacking. The connecting part and the shaping support bracket can be guided and slidably connected, and the L-shaped two-arm connection of the L-shaped right-angle rod corresponds to the piston rod of the shaping drive cylinder. Therefore, the driving force of the shaping drive cylinder can better act on the L-shaped right-angle rod. It pushes the stacked barrel materials on the parts, and can ensure that the L-shaped right-angle rod can achieve a directional and stable push.

In order to further improve the precise positioning and meet the needs of better grasping and positioning by mechanical automation, as shown in the figure, the palletizing tray resting table e4 includes a resting installation base e41 and a resting conveying device e42 arranged on the resting installation base e41, One end of the resting conveying device e42 is the resting input end e43, and the other end is the resting positioning end e44. The L-shaped right-angle rod e32 is set corresponding to one corner of the resting positioning end e44 and its height corresponds to the highest position on the stacking tray. The bottom layer of the barrel material is set to push it smoothly, and the L-shaped two arms of the L-shaped right-angle rod e32 also wrap the adjacent two sides of the barrel material stacked on the stacking tray to push, shape, adjust and position. Here, the preliminary positioning when placing the palletizing tray 70 is realized by further conveying by the resting conveying device e42, so that the precise positioning can be improved. The positioning of the resting and conveying device e42 can be realized in various ways. For example, the resting and positioning end e44 is provided with a pallet sensing device for sensing the pallet of pallets, or, the end and/or side of the resting and positioning end e44 A blocking and positioning structure for blocking the code tray is arranged on the side, and the structure is simple and the effect is good. In addition, as shown in FIG. 23 , the resting conveying device e42 includes a resting conveyor e45, a resting conveyor e46 erected on the resting conveyor e45, and a resting conveyance that is fixedly installed on the resting conveyor e45 and connected to drive the resting conveyor e46 The transmission mechanism e47, the resting conveyor belt e46 is the resting conveying hinges correspondingly arranged on both sides of the length of the resting conveyor e45, and the resting conveying frame e45 is provided with the resting conveying hinge for embedding and supporting the resting transmission hinge load. The groove member e48, through this structure, can achieve better load-bearing support and transmission, and ensure stable and reliable transmission.

The above-mentioned embodiments and drawings do not limit the product form and style of the present invention, and any appropriate changes or modifications made by those of ordinary skill in the art should be regarded as not departing from the scope of the present invention.

Claims (10)

1. The utility model provides a container loading telescopic boom, its characterized in that, including have can stretch out and draw back the flexible arm that changes length in the container, supply flexible arm stable installation to support the support mount pad that realizes flexible action, install the leveling device that stretches out and draws back that stretches out and draw back the arm and the delivery translation car that moves on flexible arm and install the flexible adjustment structure that sets up and be used for driving the flexible activity of flexible arm on supporting the mount pad and be used for playing the gliding brake equipment of the flexible arm of injecing, the one end that flexible arm can stretch into in the container is the front end, and the other end is the rear end, stretch out the leveling device setting on the front end of flexible arm, delivery translation car removes at the front end of flexible arm and supports between the mount pad.

2. The telescopic arm for loading the container as claimed in claim 1, wherein the support mounting seat is provided with a telescopic guide frame for the telescopic arm to pass through, and two sides in the telescopic guide frame are respectively provided with a sliding guide limiting structure for limiting the two square steel beams up and down, left and right and guiding the telescopic sliding; the telescopic adjusting structure comprises a hoisting motor fixedly arranged on a telescopic guide frame, two telescopic tensioning devices fixedly arranged on the telescopic guide frame and respectively arranged corresponding to two ends of the telescopic arm in the telescopic direction, and a telescopic pull rope which is connected and wound on the hoisting motor and is pulled to the corresponding end part of the telescopic arm through the two telescopic tensioning devices at two ends to be connected; and the brake device is arranged on the telescopic guide frame.

3. The telescopic arm for loading container as claimed in claim 2, wherein the telescopic tensioner comprises a horizontal mounting seat, an L-shaped hinge frame, a tension spring, an upper guide wheel, an L-shaped fixing frame and a lower guide wheel; the horizontal mounting seat is fixedly mounted, the joint of two L-shaped arms of the L-shaped hinge frame is hinged to one end of the horizontal mounting seat through a shaft rod, the concave internal corner of the L-shaped hinge frame is opposite to the horizontal mounting seat, one end of the tensioning spring is connected to one L-shaped arm of the L-shaped hinge frame facing the other end of the horizontal mounting seat, the other end of the tensioning spring is connected to the other end of the horizontal mounting seat, and the upper guide wheel frame is arranged on the other L-shaped arm of the L-shaped hinge frame; the end part of one L-shaped arm of the L-shaped fixing frame is fixedly connected with one end of a horizontal mounting seat hinged with the L-shaped hinged frame, the other L-shaped arm of the L-shaped fixing frame is back to the L-shaped hinged frame, and the lower guide wheel frame is arranged on one arm of the L-shaped fixing frame, which is back to the L-shaped hinged frame; the lower guide wheels are arranged on one arm of the L-shaped fixed frame back to the L-shaped hinged frame side by side at intervals and correspond to the same plane with the upper guide wheels; the other end of the tensioning spring is connected to the other end of the horizontal mounting seat through a position adjusting structure capable of adjusting the tensioning degree.

4. The telescopic arm for loading container as claimed in claim 2, wherein the braking unit includes a braking cylinder hinged to the telescopic guide frame, a driving arm hinged to the telescopic guide frame at one end and hinged to the braking cylinder at the other end, and a braking block connected to the driving arm and corresponding to the surface of the telescopic arm; the brake driving cylinder is hinged to the telescopic guide frame through a hinge mounting frame fixedly arranged on the end face, corresponding to the telescopic direction of the telescopic arm, of the telescopic guide frame, one end, hinged to the telescopic guide frame, of the driving arm is hinged to the telescopic guide frame through a hinge seat fixedly arranged on the upper side face, through which the telescopic arm penetrates, of the telescopic guide frame, and the brake block is fixedly arranged on one face, facing the telescopic arm, of the driving arm and close to one end of the hinge seat; the brake device is arranged corresponding to the square steel beam, and the driving arm and the brake block correspond to the inner top surface of the telescopic guide frame above the upper surface of the square steel beam; the brake device is arranged on the telescopic guide frame in 2 groups corresponding to the two square steel beams at one end corresponding to the telescopic direction of the telescopic arm respectively, or the brake device is arranged on the telescopic guide frame in 4 groups corresponding to the two square steel beams at the two ends corresponding to the telescopic direction of the telescopic arm respectively; the brake block is a nylon brake block.

5. The telescopic arm for loading the container as claimed in any one of claims 1 to 4, wherein the telescopic leveling device comprises a leveling connecting mechanism capable of changing height by lifting and a leveling driving mechanism for driving the leveling connecting mechanism to lift, the leveling connecting mechanism is arranged at the front end of the telescopic arm, the upper part of the leveling connecting mechanism is used for being connected with surrounding fixed objects, the leveling driving mechanism is arranged on the telescopic arm, or the leveling driving mechanism is arranged on a supporting mounting seat for supporting and erecting the telescopic arm, or the leveling driving mechanism is arranged on objects surrounding the telescopic arm.

6. The container loading telescopic arm as claimed in claim 5, wherein the leveling connecting mechanism comprises a primary lifting structure connected with the telescopic arm and having an elastic tension lifting structure, a secondary lifting structure connected to the upper end of the primary lifting structure and driven to lift by the leveling driving mechanism, and a top connecting part arranged on the secondary lifting structure; the top connecting part is an electromagnetic adsorption part; the primary lifting structure comprises a primary scissor component, a lifting sliding guide groove component fixedly arranged on the side edge of the telescopic arm, a spring mounting seat fixedly arranged on the telescopic arm and a primary lifting spring, wherein a primary lower guide wheel is arranged at one end of the lower part of the primary scissor component and embedded in the lifting sliding guide groove component to slide, the other end of the lower part of the primary scissor component is vertically bent and upwards extended to form a spring hinged arm, the vertical bent part is hinged with one end of the spring mounting seat, one end of the primary lifting spring is connected to the spring hinged arm, and the other end of the primary lifting spring is connected to the other end of the spring mounting seat; the other end of the primary lifting spring is connected with the other end of the spring mounting seat in a structure that two spring mounting seat vertical plates which are opposite at intervals are arranged on the spring mounting seat, shaft lever adjusting grooves are correspondingly formed in the two spring mounting seat vertical plates, the other end of the primary lifting spring is connected to an adjusting sliding shaft lever, two ends of the adjusting sliding shaft lever penetrate through the shaft lever adjusting grooves and are provided with shaft lever anti-falling positioning rings, a shaft lever adjusting through hole is formed in one end of the shaft lever adjusting groove, a shaft lever adjusting bolt penetrates through the shaft lever adjusting through hole, the end part of the shaft lever adjusting bolt penetrating through the shaft lever adjusting groove is connected with the adjusting sliding shaft lever through a thread screwing mechanism, and the other end of the shaft lever adjusting bolt is a shaft lever adjusting end for adjusting operation; the second-stage lifting structure comprises a first-stage connecting seat connected with the upper end of the first-stage scissor component, a second-stage scissor component connected with the first-stage connecting seat, and a second-stage connecting seat connected with the upper end of the second-stage scissor component, one end of the bottom of the primary connecting seat is hinged with one end of the upper part of the primary scissors fork component, the other end of the upper part of the primary scissors fork component is provided with a primary upper guide wheel which slides on the bottom surface of the primary connecting seat, a second-stage lower sliding groove block is arranged on the side surface of the first-stage connecting seat, second-stage lower guide wheels are respectively arranged at two ends of the lower part of the second-stage scissor component and embedded in the second-stage lower sliding groove block to slide, a second-stage upper sliding groove block is arranged on the side face of the second-stage connecting seat, a second-stage upper guide wheel is respectively arranged at two ends of the upper part of the second-stage scissor component and embedded in the second-stage upper sliding groove block to slide, and the top connecting component is fixedly arranged on the top face of the second-stage connecting seat; the leveling driving mechanism comprises a leveling winch motor fixedly arranged on the telescopic arm and a leveling traction rope which is connected and wound on the leveling winch motor and the end part of which is guided to be connected with the secondary scissor component through a transition guide wheel, and the leveling winch motor is used for winding the leveling traction rope to achieve deformation control on the secondary scissor component so as to realize lifting action; the leveling traction rope is provided with a fixed length block, and the end part of the pull rope displacement sensor is connected with the fixed length block.

7. The telescopic arm for loading container as claimed in any one of claims 1 to 4, wherein the translational vehicle includes a steel frame divided into a working part installation area and a power installation area on opposite sides, the working part installation area is used for installing a working vehicle for carrying materials, and the power installation area is used for installing an independent power system for driving the integral movement and providing power for the working vehicle; the outer side surfaces of the other two opposite sides of the profile steel frame are respectively provided with a translation pulley which slides on a sliding rail of the telescopic arm, the translation pulleys are connected with an independent power system of the power installation area for transmission, the independent power system comprises a contact elastic sheet which is fixedly connected and arranged on the profile steel frame and close to the telescopic arm, and the contact elastic sheet is in sliding contact with a sliding contact line arranged on the telescopic arm to conduct electricity so as to obtain electric energy required by the independent power system; the independent power system also comprises a speed reduction motor, an air compressor and an air tank which are fixedly arranged on the profile steel frame and used for connecting and driving the translation pulley to rotate, the air compressor is electrified to work to compress air and is stored in the air tank, the air tank is provided with an air source processing device, and the carrying working device is connected with the air source processing device through a pipeline and provides air kinetic energy; the independent power system also comprises a wireless network control processing module for wirelessly controlling the carrying work.

8. The telescopic arm for loading container as claimed in claim 7, wherein the translational vehicle includes a steel frame divided into a working portion installation area and a power installation area on opposite sides, the working portion installation area is used for installing the working device for carrying the material, and the power installation area is used for installing an independent power system for driving the integral movement and providing power for the working device for carrying; the outer side surfaces of the other two opposite sides of the section steel frame are respectively provided with a translation pulley which slides on a slide rail of the telescopic arm, the translation pulley is connected with an independent power system of the power installation area for transmission, the independent power system comprises a contact elastic sheet which is fixedly connected and arranged on the section steel frame near the telescopic arm, the electric energy required by the independent power system is obtained by the sliding contact conduction of the contact spring sheet and the sliding contact line arranged on the telescopic arm, the independent power system also comprises a wireless network control processing module, used for wirelessly controlling the carrying work, fixedly arranged on the section steel framework and used for connecting a speed reducing motor, an air compressor and an air tank which drive the translation pulley to rotate, the air compressor machine circular telegram work compressed gas stores in the gas pitcher, the gas pitcher is equipped with air supply processing apparatus, carry equipment to connect air supply processing apparatus through the pipeline and provide gaseous kinetic energy by it.

9. The container loading telescopic arm as claimed in claim 8, wherein the carrying working device is a linkage manipulator for grabbing the material barrel with the handle, the linkage manipulator comprises a linkage mounting cross bar fixedly mounted and connected, a carrying linkage left driving structure and a carrying linkage right driving structure fixedly arranged on the linkage mounting cross bar, a plurality of groups of carrying double-claw grippers respectively hinged on the linkage mounting cross bar through hinge structures in interval arrangement, a carrying left linkage arm respectively connected with the hinge structures of the same side claw of each group of carrying double-claw grippers and connected with the output end of the carrying linkage left driving structure, and a carrying right linkage arm respectively connected with the hinge structures of the other same side claw of each group of carrying double-claw grippers and connected with the output end of the carrying linkage right driving structure; the carrying linkage left driving structure and the carrying linkage right driving structure respectively comprise a power driving cylinder and a driving block which is connected to a piston cylinder of the power driving cylinder and is used for connecting and driving the carrying left linkage arm or the carrying right linkage arm, and a finger cylinder used for playing a synchronous action of the two driving blocks is connected between the two driving blocks.

10. The telescopic arm for loading the container as claimed in claim 9, wherein the supporting and mounting seat is provided with an independent conveying section for arranging and conveying the material barrels on a side facing the front end of the telescopic arm, a jacking mechanism for driving the whole body to lift is connected to the bottom of the independent conveying section, so that the material barrels can be accurately clamped by the linkage mechanical arm, and the independent conveying section is provided with a leakage-proof sensing device for respectively sensing the position of each arranged material barrel.

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