CN114920039B - Intelligent unloading and transferring robot - Google Patents
Intelligent unloading and transferring robot Download PDFInfo
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- CN114920039B CN114920039B CN202210530325.5A CN202210530325A CN114920039B CN 114920039 B CN114920039 B CN 114920039B CN 202210530325 A CN202210530325 A CN 202210530325A CN 114920039 B CN114920039 B CN 114920039B
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- 238000005452 bending Methods 0.000 claims description 22
- 230000005484 gravity Effects 0.000 claims description 18
- 230000009471 action Effects 0.000 claims description 9
- 230000000903 blocking effect Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000012546 transfer Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 101100441413 Caenorhabditis elegans cup-15 gene Proteins 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000012856 packing Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
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- 238000000926 separation method 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
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/22—Horizontal loading or unloading platforms
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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
- B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
- B65G41/006—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor not adjustably mounted on the supporting frame or base
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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
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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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
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- 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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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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
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
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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
- B65G65/00—Loading or unloading
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention discloses an intelligent unloading and transferring robot, relates to the technical field of logistics transportation, and particularly relates to an intelligent unloading robot for transferring cargoes. The invention comprises the following steps: the device comprises a bearing moving platform, a front-end unloading device sliding structure, a lifting conveying platform lifting structure, a front-end unloading device, a double-layer container and a power device; the rear part of the bearing motion platform is an assembly platform, and the front part of the bearing motion platform is two horizontally arranged mounting arms; the front part of the inner side of the mounting arm is provided with a front end unloading device sliding structure, and the rear part of the inner side of the mounting arm is provided with a lifting structure of a lifting conveying platform; the front end unloading device is arranged on the front end unloading device sliding structure; the double-layer container is arranged on the assembly platform; the power device is arranged on the assembly platform and provides running power for the front-end unloading device, the front-end unloading device sliding structure and the lifting structure of the lifting conveying platform. The technical scheme of the invention solves the problems of low integral efficiency and high cost of manual unloading in the prior art; and the epidemic situation is easy to be infected.
Description
Technical Field
The invention discloses an intelligent unloading and transferring robot, relates to the technical field of logistics transportation, and particularly relates to an intelligent unloading robot for transferring cargoes.
Background
Logistics transportation plays an indispensable role in the life of the society today, and cargo unloading and transporting are key links in logistics transportation, but are high in cost and relatively manual inefficiency caused by immature technology, and are limited by the degree of automation of each link. Most warehouse companies have insufficient or advanced intelligent automatic unloading and transferring technology, and manual transportation is necessary, so that the overall transportation efficiency is affected. With the development of artificial intelligence technology and the increasing spread of robot application, the application degree of intelligent logistics in the logistics field is increasingly improved. The big logistics companies including Beijing dong are aiming at reducing the manual work amount in the logistics process and improving the working efficiency and the maximum working time of the machine by leading edge technologies such as robots, internet of things, unmanned operation and the like so as to realize the acceleration of delivery speed, the reduction of wage expenditure and the like, thereby improving the economic benefit and maximizing the efficiency.
Aiming at the problems in the prior art, the novel intelligent unloading and transferring robot is researched and designed, so that the problems in the prior art are overcome.
Disclosure of Invention
According to the technical problems of low overall efficiency, high cost and the like of manual unloading provided by the prior art, the intelligent unloading and transferring robot is provided; thereby improving the logistics transportation unloading efficiency, meeting the requirements of rapid logistics transportation unloading and reducing the logistics cost
The invention adopts the following technical means:
an intelligent unloading transfer robot comprising: the device comprises a bearing moving platform, a front-end unloading device sliding structure, a lifting conveying platform lifting structure, a front-end unloading device, a double-layer container and a power device;
Further, the rear part of the bearing motion platform is an assembly platform, and the front part of the bearing motion platform is two horizontally arranged mounting arms;
Further, the front part of the inner side of the mounting arm is provided with a front end unloading device sliding structure, and the rear part of the inner side of the mounting arm is provided with a lifting structure of a lifting conveying platform;
further, the front end unloading device is arranged on the front end unloading device sliding structure;
Further, the double-layer container is arranged on the assembly platform;
further, the power device is arranged on the assembly platform and provides operation power for the front-end unloading device, the front-end unloading device sliding structure and the lifting structure of the lifting conveying platform.
Further, the front end discharge apparatus slide structure includes: the two front-end unloading devices comprise a lifting slipway, two transverse slide rails and a telescopic slipway;
Further, the lifting sliding tables of the two front-end unloading devices are symmetrically and vertically arranged on the inner sides of the front parts of the two mounting arms;
Further, the two transverse sliding rails are respectively connected with the two front-end unloading device lifting sliding tables through an electric screw rod moving structure, and slide up and down along the front-end unloading device lifting sliding tables under the action of the electric screw rod moving structure;
further, two ends of the telescopic sliding table are connected with the two transverse sliding rails through the electric screw rod moving structure, and slide back and forth along the transverse sliding rails under the action of the electric screw rod moving structure.
Further, the front end discharge apparatus includes: a grabbing structure and a sucking structure;
further, the suction structure includes: the device comprises a top suction cup, a side suction cup and a bending connecting plate;
Further, the bending connecting plate is formed by bending a plate-shaped structure by 90 degrees and is fixedly arranged at the front end of the telescopic sliding table;
further, sucker mounting holes are uniformly distributed on the top and the side parts of the bending connecting plate;
Further, the top suction cup is arranged in a suction cup mounting hole at the top of the bending connecting plate;
further, the side suction cup is arranged in a suction cup mounting hole at the side part of the bending connecting plate;
further, the grasping structure includes: the bottom roller, the gravity type harrow nail, the upper end nut and the front end grabbing platform;
further, a plurality of harrow nail mounting holes are uniformly distributed on the front end grabbing platform, and the front end grabbing platform is arranged at the front part of the bending connecting plate through bolts;
further, the upper part of the gravity type harrow nail is provided with threads, the lower part of the gravity type harrow nail is provided with a groove, the gravity type harrow nail is inserted into the harrow nail mounting hole from bottom to top, and the top of the gravity type harrow nail is fixedly connected through an upper end screw cap;
Further, the low-end roller is arranged in a groove at the bottom of the gravity type harrow pin.
Further, the elevating transfer platform elevating structure includes: the two lifting conveying platforms comprise two lifting slide ways, two guide frames and a lifting conveying platform;
Further, the lifting slide ways of the two lifting conveying platforms are symmetrically and vertically arranged on the inner sides of the rear parts of the two mounting arms;
Further, the two guide frames are symmetrically and vertically arranged on the inner sides of the middle parts of the two mounting arms;
further, the two guide frames are respectively arranged in parallel with the lifting slide ways of the two lifting conveying platforms;
further, two ends of the lifting conveying platform are connected with the lifting slideway of the lifting conveying platform through an electric screw rod moving structure, and slide up and down along the lifting slideway of the lifting conveying platform under the action of the electric screw rod moving structure;
Further, two ends of the lifting conveying platform are respectively connected with the guide frame in a sliding manner through the sliding blocks, and the lifting conveying platform plays a role in guiding and supporting when lifting.
Further, the double-deck cargo box includes: the double-deck goods storage mechanism comprises a box door, a push-pull bracket, a double-deck goods storage mechanism and a blocking net;
further, the double-layer cargo storage mechanism is fixedly arranged on the assembly platform through a bracket;
Further, the barrier net is arranged above the front end of the double-layer cargo storage mechanism; the double-layer goods storage mechanism is connected to the upper end face of the double-layer goods storage mechanism through bolts, so that goods are prevented from sliding above the double-layer goods storage mechanism;
Further, the top end of the box door is hinged with the top end of the rear part of the double-layer cargo storage mechanism;
further, the bottom of the push-pull support is hinged with the side wall of the double-layer storage mechanism, and the front end of the cylinder rod is hinged with the box door.
Further, the power plant includes: a compressor, a vacuum pump, a battery and an external control device;
further, the compressor and the vacuum pump are connected with the top suction cup and the side suction cup through pipelines;
Further, the compressor and the vacuum pump are electrically connected with the battery and an external control device;
Further, the external control system is electrically connected with the battery and a driving motor of an electric screw rod motion structure arranged on the lifting slipway of the front-end unloading device, the transverse sliding rail and the lifting slipway of the lifting conveying platform.
Further, the bottom of the bearing motion platform is provided with universal wheels and fixed wheels
Further, the fixed wheel is arranged at the bottom of the mounting arm;
further, the universal wheels are arranged at the bottom of the assembly platform;
Further, a driving motor is arranged on the universal wheel and is electrically connected with the battery.
The working steps of the invention are as follows:
The intelligent unloading transfer robot is moved to the front of a cargo through the operation universal wheels, the front end grabbing platform is erected on the telescopic sliding table, the top sucking disc and the side sucking disc are forwards extended to be in contact with the cargo, the vacuum pump starts to operate after the cargo is contacted, the top sucking disc and the side sucking disc are used for respectively sucking the top surface and the side surface of the cargo, meanwhile, the front end grabbing device is fully contacted with the top surface of the cargo, the gravity type harrow nails in direct contact with the cargo move upwards along the holes of the front end grabbing platform, the gravity type harrow nails which are not contacted with the cargo fall into gaps between the cargo and the cargo, the telescopic sliding table is retracted backwards and matched with the lifting sliding table of the front end unloading device to put the cargo on the lifting conveying platform, the compressor is started to press the compressed air to the top sucking disc and the side sucking disc to enable the cargo to fall, the gravity type harrow nails have the function of backward harrowing the top sucking disc and the side sucking disc to upwards and backward extract the cargo. The lifting conveying platform lifting slideway is connected with the lifting conveying platform, and the lifting conveying platform upwards rises to the double-layer cargo storage mechanism, the power roller rotates to backwards move cargoes to the double-layer cargo storage mechanism, and the lifting conveying platform has the function of conveying cargoes. In-process double-deck packing box chamber door at the unloading is closed, the running of cylinder behind the goods entering double-deck goods storage mechanism front end removes double-deck goods storage mechanism rear end with the goods, the goods is full of double-deck goods storage mechanism back and is moved the intelligent unloading transfer robot to prescribed place, open double-deck packing box chamber door, the cylinder continues the function in the double-deck goods storage mechanism, the goods is automatic to fall down, double-deck packing box has the effect of storing goods, automatic unloading and transportation goods, the separation net has the effect of preventing the goods landing to double-deck goods storage mechanism upper end, the universal wheel has the effect of removing intelligent unloading transfer robot. The intelligent unloading and transferring robot can realize continuous unloading of cargoes, has a storage and transferring function and conveys the cargoes to a specified place.
Compared with the prior art, the invention has the following advantages:
1. The intelligent unloading and transferring robot is safe to operate, does not need to manually transfer goods, and avoids direct contact between import and export goods and a transfer worker;
2. The intelligent unloading and transferring robot provided by the invention has the advantages of quick unloading time, high efficiency, continuous unloading of the intelligent unloading and transferring robot, and functions of storing goods, transferring the goods and automatic unloading;
3. The intelligent unloading and transferring robot provided by the invention is simple and flexible in device and is suitable for transferring cargoes in different scenes;
4. the intelligent unloading and transferring robot provided by the invention has the advantages that the device integration degree is high, the functions of unloading and transferring are integrated, and the storage logistics transportation is convenient;
5. the intelligent unloading and transferring robot provided by the invention has high automation degree, and can realize the rapid unloading and unmanned operation of logistics transportation goods.
In conclusion, the technical scheme of the invention solves the problems of low integral efficiency, high cost and the like of manual unloading in the prior art.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.
FIG. 1 is a schematic diagram of a first embodiment of the present invention;
FIG. 2 is a second schematic diagram of the structure of the present invention;
FIG. 3 is a schematic view of the sliding structure of the front end discharge apparatus of the present invention;
FIG. 4 is a schematic view of a front end discharge apparatus according to the present invention;
FIG. 5 is a schematic view of the gravity rake assembly of the present invention;
FIG. 6 is a schematic view of a lifting structure of a lifting and conveying platform according to the present invention;
FIG. 7 is a schematic view of a double-deck cargo box of the present invention;
Fig. 8 is a schematic diagram of the power plant and the load-bearing motion platform structure of the present invention.
In the figure: 1. front end discharge 11, bottom roller 12, gravity rake 13, upper end nut 14, front end gripping platform 15, top suction cup 16, side suction cup 17, bending connection plate 2, front end discharge sliding structure 21, front end discharge lifting sliding table 22, transverse sliding rail 23, telescopic sliding table 3, lifting conveying platform lifting structure 31, lifting conveying platform lifting sliding rail 32, guide frame 33, lifting conveying platform 4, double-deck container 41, box door 42, push-pull bracket 43, double-deck storage mechanism 44, barrier net 5, power device 51, compressor 52, vacuum pump 53, battery 6, load-bearing moving platform 61, mounting arm 62, assembly platform 63, universal wheel 64, and fixed wheel.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
As shown in the figure, the invention provides an intelligent unloading and transferring robot, which comprises: the double-deck cargo box comprises a bearing moving platform 6, a front-end unloading device sliding structure 2, a lifting conveying platform lifting structure 3, a front-end unloading device 1, a double-deck cargo box 4 and a power structure 5; the rear part of the bearing motion platform 6 is provided with an assembly platform 62, and the front part is provided with two horizontally arranged mounting arms 61; the front part of the inner side of the mounting arm 61 is provided with a front end unloading device sliding structure 2, and the rear part is provided with a lifting and conveying platform lifting structure 3; the front end unloading device 1 is arranged on the front end unloading device sliding structure 2; the double-deck cargo box 4 is arranged on the assembly platform 62; the power structure 5 is mounted on the assembly platform 62 and provides operation power for the front-end unloading device 1, the front-end unloading device sliding structure 2 and the lifting and conveying platform lifting structure 3.
The front end discharge means slide 2 comprises: the two front-end unloading devices comprise a lifting sliding table 21, two transverse sliding rails 22 and a telescopic sliding table 23; the two front-end unloading device lifting sliding tables 21 are symmetrically and vertically arranged on the inner sides of the front parts of the two mounting arms 61; the two transverse slide rails 22 are respectively connected with the two front-end unloading device lifting sliding tables 21 through an electric screw rod moving structure, and slide up and down along the front-end unloading device lifting sliding tables 21 under the action of the electric screw rod moving structure; the two ends of the telescopic sliding table 23 are connected with the two transverse sliding rails 22 through an electric screw motion structure, and slide back and forth along the transverse sliding rails under the action of the electric screw motion structure.
The front end discharge device includes: a grabbing structure and a sucking structure; the suction structure comprises: a top suction cup 15, a side suction cup 16 and a bending connection plate 17; the bending connection plate 17 is formed by bending a plate-shaped structure by 90 degrees and is fixedly arranged at the front end of the telescopic sliding table 23; suction cup mounting holes are uniformly distributed on the top and the side parts of the bending connecting plate 17; the top suction cup 15 is arranged in a suction cup mounting hole at the top of the bending connecting plate 17; the side suction cup 16 is arranged in a suction cup mounting hole at the side part of the bending connecting plate 17; the grabbing structure comprises: the bottom roller 11, the gravity type harrow nail 12, the upper end screw cap 13 and the front end grabbing platform 14; a plurality of harrow nail mounting holes are uniformly distributed on the front end grabbing platform 14, and the front end grabbing platform 14 is arranged at the front part of the bending connecting plate 17 through bolts; the gravity type harrow nail 12 is provided with threads at the upper part and grooves at the lower part, and is inserted into the harrow nail mounting hole from bottom to top, and the tops are fixedly connected through an upper end screw cap; the lower roller 11 is mounted in a recess in the bottom of the gravity rake 12.
The lifting structure 3 of the lifting conveying platform comprises: the two lifting conveying platforms comprise two lifting slide ways 31, two guide frames 32 and a lifting conveying platform 33; the two lifting conveying platform lifting slide ways 31 are symmetrically and vertically arranged on the inner sides of the rear parts of the two mounting arms 61; the two guide frames 32 are symmetrically and vertically arranged on the inner sides of the middle parts of the two mounting arms 61; the two guide frames 32 are respectively arranged in parallel with the two lifting conveyor platform lifting slide ways 31; the two ends of the lifting conveying platform 33 are connected with the lifting slideway 31 of the lifting conveying platform through an electric screw rod moving structure, and slide up and down along the lifting slideway 31 of the lifting conveying platform under the action of the electric screw rod moving structure; the two ends of the lifting and conveying platform 33 are respectively connected with the guide frame 32 in a sliding way through the sliding blocks, and play a role in guiding and supporting when the lifting and conveying platform 33 lifts.
The double container 4 includes: a box door 41, a push-pull bracket 42, a double-layer storage mechanism 43 and a blocking net 44; the double-layer cargo storage mechanism 43 is fixedly arranged on the assembly platform 62 through a bracket; the blocking net 44 is arranged above the front end of the double-layer cargo storage mechanism 43; is connected to the upper end surface of the double-layer goods storage mechanism 43 by bolts to prevent goods from sliding above the double-layer goods storage mechanism 43; the top end of the box door 41 is hinged with the top end of the rear part of the double-layer cargo storage mechanism 43; the bottom of the push-pull bracket 42 is hinged with the side wall of the double-layer cargo storage mechanism 43, and the front end of the cylinder rod is hinged with the box door 41.
The power structure 5 includes: a compressor 51, a vacuum pump 52, a battery 53, and an external control device; the compressor 51 and the vacuum pump 52 are connected with the top suction cup 15 and the side suction cup 16 through pipelines; the compressor 51 and the vacuum pump 52 are electrically connected to the battery 53 and an external control device; the external control system is electrically connected with a battery 53 and a driving motor of an electric screw motion structure arranged on the front-end unloading device lifting sliding table 21, the transverse sliding rail 22 and the lifting conveying platform lifting sliding rail 31.
The bottom of the bearing motion platform 6 is provided with universal wheels 63 and fixed wheels 64, and the fixed wheels are arranged at the bottom of the mounting arm 61; the universal wheel 63 is arranged at the bottom of the assembly platform 62; the universal wheel 63 is provided with a drive motor electrically connected to the battery 53.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the 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 scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (1)
1. Intelligent unloading and transferring robot is characterized in that:
the intelligent unloading and transferring robot comprises: the device comprises a bearing moving platform (6), a front-end unloading device sliding structure (2), a lifting and conveying platform lifting structure (3), a front-end unloading device (1), a double-layer container (4) and a power structure (5);
The rear part of the bearing motion platform (6) is provided with an assembly platform (62), and the front part is provided with two horizontally arranged mounting arms (61);
The front part of the inner side of the mounting arm (61) is provided with a front end unloading device sliding structure (2), and the rear part of the inner side of the mounting arm is provided with a lifting structure (3) of a lifting conveying platform;
The front end unloading device sliding structure (2) comprises: the two front-end unloading devices comprise a lifting slipway (21), two transverse slide rails (22) and a telescopic slipway (23);
The two front-end unloading device lifting sliding tables (21) are symmetrically and vertically arranged on the inner sides of the front parts of the two mounting arms (61);
the two transverse sliding rails (22) are respectively connected with the two front-end unloading device lifting sliding tables (21) through an electric screw rod moving structure, and slide up and down along the front-end unloading device lifting sliding tables (21) under the action of the electric screw rod moving structure;
The two ends of the telescopic sliding table (23) are connected with two transverse sliding rails (22) through an electric screw rod moving structure, and slide back and forth along the transverse sliding rails under the action of the electric screw rod moving structure;
the lifting structure (3) of the lifting conveying platform comprises: the two lifting conveying platforms comprise two lifting slide ways (31), two guide frames (32) and a lifting conveying platform (33);
the two lifting conveying platform lifting slide ways (31) are symmetrically and vertically arranged on the inner sides of the rear parts of the two mounting arms (61);
the two guide frames (32) are symmetrically and vertically arranged on the inner sides of the middle parts of the two mounting arms (61);
the two guide frames (32) are respectively arranged in parallel with the two lifting slide ways (31) of the lifting conveying platform;
The two ends of the lifting conveying platform (33) are connected with the lifting slideway (31) of the lifting conveying platform through an electric screw rod moving structure, and slide up and down along the lifting slideway (31) of the lifting conveying platform under the action of the electric screw rod moving structure;
The two ends of the lifting conveying platform (33) are respectively connected with the guide frame (32) in a sliding way through the sliding blocks, and the lifting conveying platform (33) plays a role in guiding and supporting when lifting;
The front-end unloading device (1) is arranged on the front-end unloading device sliding structure (2);
The front-end unloading device (1) comprises: a grabbing structure and a sucking structure;
The suction structure comprises: a top suction cup (15), a side suction cup (16) and a bending connecting plate (17);
The bending connecting plate (17) is formed by bending a plate-shaped structure by 90 degrees and is fixedly arranged at the front end of the telescopic sliding table (23);
suction cup mounting holes are uniformly distributed on the top and the side parts of the bending connecting plate (17);
the top suction cup (15) is arranged in a suction cup mounting hole at the top of the bending connecting plate (17);
The side suction cup (16) is arranged in a suction cup mounting hole at the side part of the bending connecting plate (17);
the grabbing structure comprises: the bottom roller (11), the gravity type harrow nails (12), the upper end nuts (13) and the front end grabbing platform (14);
A plurality of harrow nail mounting holes are uniformly distributed on the front end grabbing platform (14), and the front end grabbing platform (14) is arranged at the front part of the bending connecting plate (17) through bolts;
the gravity type harrow nail (12) is provided with threads at the upper part, a groove is arranged at the lower part, the gravity type harrow nail is inserted into the harrow nail mounting hole from bottom to top, and the tops are fixedly connected through an upper end screw cap;
the bottom roller (11) is arranged in a groove at the bottom of the gravity type harrow nail (12);
the double-layer container (4) is arranged on the assembly platform (62);
The double-layer container (4) comprises: the double-deck goods storage device comprises a box door (41), a push-pull bracket (42), a double-deck goods storage mechanism (43) and a blocking net (44);
The double-layer cargo storage mechanism (43) is fixedly arranged on the assembly platform (62) through a bracket;
The blocking net (44) is arranged above the front end of the double-layer cargo storage mechanism (43); is connected to the upper end face of the double-layer goods storage mechanism (43) by bolts to prevent goods from sliding above the double-layer goods storage mechanism (43);
The top end of the box door (41) is hinged with the top end of the rear part of the double-layer cargo storage mechanism (43);
the bottom of the push-pull bracket (42) is hinged with the side wall of the double-layer cargo storage mechanism (43), and the front end of the cylinder rod is hinged with the box door (41);
the power structure (5) is arranged on the assembly platform (62) and provides running power for the front-end unloading device (1), the front-end unloading device sliding structure (2) and the lifting structure (3) of the lifting transmission platform;
The power structure (5) comprises: a compressor (51), a vacuum pump (52), a battery (53) and an external control system;
The compressor (51) and the vacuum pump (52) are connected with the top suction cup (15) and the side suction cup (16) through pipelines;
the compressor (51) and the vacuum pump (52) are electrically connected with the battery (53) and an external control system;
The external control system is electrically connected with a battery (53) and a driving motor of an electric screw rod motion structure arranged on the front-end unloading device lifting sliding table (21), the transverse sliding rail (22) and the lifting conveying platform lifting sliding rail (31);
the bottom of the bearing motion platform (6) is provided with a universal wheel (63) and a fixed wheel (64)
The fixed wheel is arranged at the bottom of the mounting arm (61);
The universal wheels (63) are arranged at the bottom of the assembly platform (62);
the universal wheel (63) is provided with a driving motor which is electrically connected with the battery (53).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210530325.5A CN114920039B (en) | 2022-05-16 | 2022-05-16 | Intelligent unloading and transferring robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210530325.5A CN114920039B (en) | 2022-05-16 | 2022-05-16 | Intelligent unloading and transferring robot |
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| CN114920039A CN114920039A (en) | 2022-08-19 |
| CN114920039B true CN114920039B (en) | 2024-05-28 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115489994B (en) * | 2022-09-15 | 2024-08-13 | 大连海事大学 | Be applied to harrow formula container discharge transfer device and control system and discharge step |
| CN115504274B (en) * | 2022-09-15 | 2024-09-20 | 大连海事大学 | Rake type container unloading and transferring device |
| CN115535649B (en) * | 2022-10-27 | 2024-09-20 | 大连海事大学 | Quick unloading device suitable for container with tray |
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| CN114212566A (en) * | 2021-12-30 | 2022-03-22 | 大连海事大学 | Be applied to novel pneumatic sucking disc formula track robot that cabin goods was transported |
| CN114426215A (en) * | 2022-01-17 | 2022-05-03 | 大连海事大学 | Variable-amplitude conveying type refrigerated ship unloading system and working method |
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| DE102011053351A1 (en) * | 2011-09-07 | 2013-03-07 | Thomas Reiter | Bandschwader |
| CA2762874A1 (en) * | 2011-11-07 | 2013-05-07 | Corbin Fehr | Snow removal system |
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| Publication number | Publication date |
|---|---|
| CN114920039A (en) | 2022-08-19 |
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