CN115417163A

CN115417163A - Stacking and unstacking equipment

Info

Publication number: CN115417163A
Application number: CN202210816786.9A
Authority: CN
Inventors: 鲁春平; 周伯健; 周运华
Original assignee: Hunan Free Trade Zone Dazhao Machinery Equipment Co ltd; MCC (XIANGTAN) HEAVY INDUSTRIAL EQUIPMENT CO LTD
Current assignee: Hunan Free Trade Zone Dazhao Machinery Equipment Co ltd; MCC (XIANGTAN) HEAVY INDUSTRIAL EQUIPMENT CO LTD
Priority date: 2022-07-12
Filing date: 2022-07-12
Publication date: 2022-12-02

Abstract

The invention discloses a stack unstacking device, comprising: a motor-driven trolley, a movable arm support mechanism and a manipulator. The movable arm frame mechanism is connected with the motor trolley. The manipulator is connected in movable cantilever crane mechanism, the manipulator includes clamp, embrace and press from both sides and actuating mechanism, clamp with embrace and press from both sides the interval and set up, actuating mechanism respectively with embrace press from both sides with clamp transmission is connected, the drive embrace press from both sides with clamp carries out centre gripping or release action respectively. The utility model provides a handling of bag form goods can be made things convenient for to the manipulator of equipment of destacking in piles, and the clamp at manipulator both ends presss from both sides the both sides of centre gripping bag form goods respectively with embracing, can steadily effectual fixed bag form goods of centre gripping, has saved the manpower, has improved work efficiency.

Description

Stacking and unstacking equipment

Technical Field

The invention relates to the technical field of loading and unloading engineering machinery, in particular to stacking and unstacking equipment.

Background

In the logistics transportation goods in modern society, materials packaged by fiber bags are one of the main modes of material packaging. Common such packaged goods are cement, fertilizer, grain, fruit, small electric appliances, mail, medical supplies, other living goods, and the like. Due to the irregular shape of such packaging materials, most of the end-loading and unloading work must be done manually. Along with the development of society and the continuous emergence of advanced production tools, people are reluctant to carry out manual loading and unloading heavy physical work, the salary of the heavy physical work is increased in height, and along with the increasingly abundant social material life, the object flow is greatly increased every year, the phenomenon that the loading and unloading workers supply the excessive demand is generated, and even the embarrassing situation of valuable nobody is achieved. The logistics loading and unloading industry needs automatic loading and unloading equipment, especially mature technical equipment which is not available in mechanical loading and unloading equipment for bag-packaged goods, and further has no comprehensive technical breakthrough and large-scale practical use.

In view of the above, the present invention is particularly proposed.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide stacking and unstacking equipment.

The application provides the following technical scheme:

a stack unstacking apparatus comprising:

a motorized trolley;

the movable arm support mechanism is connected to the motor trolley;

the manipulator is connected with the movable cantilever crane mechanism, the manipulator comprises a clamp, a clamp and a driving mechanism, the clamp and the clamp are arranged at intervals, the driving mechanism is respectively connected with the clamp and the clamp in a transmission mode, and the driving mechanism drives the clamp and the clamp to respectively execute clamping or releasing actions.

Optionally, the manipulator includes a main beam and a telescopic beam, and the telescopic beam is slidably connected to the main beam;

the driving mechanism comprises a clamping oil cylinder;

the clamp is arranged at one end of the main beam, which is far away from the telescopic beam;

the holding clamp comprises a first clamping piece and a second clamping piece, the first clamping piece and the second clamping piece are hinged to the telescopic beam, the first clamping piece is provided with a first gear, the second clamping piece is provided with a second gear, the first gear is meshed with the second gear, one end of the holding clamp oil cylinder is connected to the main beam, and the other end of the holding clamp oil cylinder is connected to the first clamping piece.

Optionally, the driving mechanism includes a clamp cylinder, the clamp includes a bracket and two clamp grippers, and the bracket is connected to the main beam;

the two forceps grabs are rotatably connected to the bracket, one of the two forceps grabs is provided with a third gear, the other one of the two forceps grabs is provided with a fourth gear, and the third gear is meshed with the fourth gear;

the clamp oil cylinder is in transmission connection with any one of the clamps and drives the clamp to rotate.

Optionally, a plurality of vacuum adsorption devices are arranged on the main beam.

Optionally, the motorized trolley comprises a frame, a rear support leg, a rear driving wheel, a front driving wheel, a belt conveyor, a sliding frame, a front support leg and a luffing cylinder;

the rear supporting legs are movably connected to the frame, and the rear driving wheels are connected to the rear supporting legs;

the sliding frame is connected to the frame in a sliding mode;

one end of the belt conveyor is hinged to the sliding frame;

one end of the amplitude-variable oil cylinder is hinged to the sliding frame, and the other end of the amplitude-variable oil cylinder is hinged to the belt conveyor;

the front supporting leg is connected to one side, far away from the sliding frame, of the belt conveyor;

the motorized trolley has a first obstacle crossing working condition and a second obstacle crossing working condition, and under the first obstacle crossing working condition, the amplitude variation oil cylinder extends to drive the belt conveyor to incline and lift the front support leg; under the second obstacle crossing working condition, the rear supporting leg extends out of the frame and is perpendicular to the frame, and the frame is lifted.

Optionally, the motorized trolley is provided with a leg stretching oil cylinder, one end of the rear support leg is connected with the front driving wheel, the other end of the rear support leg is hinged to the leg stretching oil cylinder, a driven gear is arranged at one end of the rear support leg close to the rear support leg, and the frame is provided with a driving gear;

under the second obstacle crossing working condition, the rear supporting leg is in an extending state, the driving gear is meshed with the driven gear, and the driving gear drives the driven gear to rotate to drive the rear supporting leg to rotate to be perpendicular to the frame.

Optionally, a rear wheel swing oil cylinder is arranged on the rear support leg, and a telescopic end of the rear wheel swing oil cylinder is hinged to the rear drive wheel to drive the rear drive wheel to rotate.

Optionally, the stacking and unstacking equipment further comprises a connecting rod, one end of the connecting rod is hinged to the sliding frame, the other end of the connecting rod is hinged to the front support leg, the front support leg is hinged to the belt conveyor, and the connecting rod is parallel to the belt conveyor;

the link, the belt conveyor, a portion of the sliding frame and a portion of the front support leg form a parallel four-bar linkage.

Optionally, the movable boom mechanism comprises a boom lifting mechanism, a first-stage swing mechanism, a first-stage telescopic boom, a second-stage swing mechanism, a second-stage telescopic boom, a third-stage swing mechanism and a manipulator lifting mechanism;

cantilever crane lifting mechanism connect in the frame, one-level rotation mechanism connect in cantilever crane lifting mechanism, one-level telescopic boom connect in one-level rotation mechanism, second grade rotation mechanism connect in one-level telescopic boom, second grade telescopic boom connect in second grade rotation mechanism, tertiary rotation mechanism connect in second grade telescopic boom, manipulator lifting mechanism connect in tertiary rotation mechanism, the manipulator connect in manipulator lifting mechanism.

Optionally, the primary telescopic boom comprises a main boom, a main boom cylinder and a main boom pitching cylinder;

the main arm frame comprises a basic arm and a telescopic arm frame, the basic arm is hinged on the primary swing mechanism, one end of the telescopic arm frame is slidably connected with the basic arm, and the other end of the telescopic arm frame is hinged on the secondary swing mechanism;

the main arm oil cylinder comprises a cylinder barrel and a piston rod, the cylinder barrel is hinged to the first-stage swing mechanism, and the piston rod is hinged to the second-stage swing mechanism;

one end of the main arm pitching oil cylinder is hinged to the primary swing mechanism, and the other end of the main arm pitching oil cylinder is hinged to the basic arm.

The main arm support is parallel to the main arm oil cylinder, and the main arm support, the main arm oil cylinder, part of the first-stage swing mechanism and part of the second-stage swing mechanism form a parallel four-bar mechanism.

By adopting the technical scheme, the invention has the following beneficial effects:

the utility model provides a handling of bag form goods can be made things convenient for to the manipulator of equipment of destacking in piles, and the clamp at manipulator both ends presss from both sides the both sides of centre gripping bag form goods respectively with embracing, can steadily effectual fixed bag form goods of centre gripping, has saved the manpower, has improved work efficiency.

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention to its proper form. It is obvious that the drawings in the following description are only some embodiments and that for a person skilled in the art, other drawings can also be derived from them without inventive effort. In the drawings:

FIG. 1 is a schematic structural diagram of a stack unstacking apparatus provided in an embodiment of the present application;

FIG. 2 shows an enlarged view of portion A of FIG. 1;

FIG. 3 is a schematic diagram illustrating a stack unstacking apparatus provided by an embodiment of the present application in a first obstacle crossing condition;

FIG. 4 is a schematic diagram illustrating a stacking and unstacking apparatus provided by an embodiment of the application in a second obstacle crossing condition;

fig. 5 is a schematic view illustrating a telescopic boom of the pile destacking equipment provided by the embodiment of the application in an extended state;

FIG. 6 illustrates a top view of a stack unstacking apparatus provided in an embodiment of the present application;

fig. 7 is a plan view showing another state of the stack unstacking apparatus provided in the embodiment of the present application.

In the figure, 1, a motor trolley; 11. a frame; 111. a driving gear; 112. an auxiliary wheel; 12. a rear support leg; 13. a rear drive wheel; 14. a front drive wheel; 15. a belt conveyor; 16. a sliding frame; 17. a front support leg; 18. a variable amplitude oil cylinder; 19. a connecting rod; 2. a movable boom mechanism; 21 arm frame lifting mechanism; 22. a first-stage swing mechanism; 23. a first-stage telescopic arm support; 231. a main arm support; 232. a main arm cylinder; 233. a main arm pitching cylinder; 24. a second-stage swing mechanism; 25. a secondary telescopic arm support; 26. a three-stage swing mechanism; 27. a manipulator lifting mechanism; 271. a first dovetail rail; 272. a manipulator mounting base; 3. a manipulator; 31. a main beam; 32. a telescopic beam; 33. clamping the oil cylinder; 34. clamping; 341. grasping by pliers; 35. clamping; 351. a first clamp member; 352. a second clamp; 36. a clamp oil cylinder; 37. a vacuum adsorption device; 4. a laser scanning device; 5. a cargo platform; 6. a pallet for a forklift.

It should be noted that the drawings and the description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate it for those skilled in the art by reference to specific embodiments.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or assembly must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 7, an embodiment of the present application provides a stack unstacking apparatus, including: the mechanical hand comprises a motorized trolley 1, a movable arm frame mechanism 2 and a mechanical hand 3. The movable arm support mechanism 2 is connected to the motor trolley 1, and the movable arm support mechanism 2 can rotate around the motor trolley 1 to adjust the angle. The manipulator 3 is connected to the movable arm support mechanism 2 and used for grabbing goods. The movable arm support mechanism 2 can drive the mechanical arm 3 to move in the space, and the goods are transported. Referring to fig. 2, the manipulator includes a clamp 34, a clamp 35, and a driving mechanism, where the clamp 34 and the clamp 35 are arranged at an interval, and the driving mechanism is respectively connected to the clamp 35 and the clamp 34 in a transmission manner to drive the clamp 35 and the clamp 34 to respectively perform a clamping or releasing action. The utility model provides a handling of goods, especially the loading and unloading of goods in bags can be made things convenient for to the manipulator of the equipment of destacking in piles of this application. The clamp 34 of manipulator centre gripping earlier the one end of goods in bags, drags out certain distance with it on longitudinal direction, then embraces the other end that presss from both sides 35 and centre gripping goods in bags again, can effectual centre gripping and fixed goods in bags like this, has saved the manpower, has improved work efficiency.

In a possible embodiment, the manipulator comprises a main beam 31 and a telescopic beam 32, the telescopic beam 32 being slidably connected to the main beam 31. The driving mechanism comprises a clamping cylinder 33. The clamp 34 is disposed at an end of the main beam 31 opposite to the telescopic beam 32. The clasping clamp 35 comprises a first clamping piece 351 and a second clamping piece 352, wherein the first clamping piece 351 and the second clamping piece 352 are hinged to the telescopic beam 32, the first clamping piece 351 is provided with a first gear, the second clamping piece 352 is provided with a second gear, the first gear is meshed with the second gear, one end of the clasping cylinder 33 is connected to the main beam 31, and the other end of the clasping cylinder is connected to the first clamping piece 351.

In this embodiment, a clamping space is formed between the first clamping member 351 and the second clamping member 352, when the clamping cylinder 33 is extended, the telescopic beam 32 can be driven to slide along the main beam 31, and the first clamping member 351 can also be driven to rotate, the first clamping member 351 rotates to drive the second gear to rotate through the first gear, so that the second clamping member 352 is drawn close to the first clamping member 351, and the clamping space is reduced.

In a possible embodiment, the actuation mechanism comprises a clamp cylinder 36, and the clamp 34 comprises two clamps 341 and a bracket, which is connected to the main beam 31. The two grippers 341 are rotatably connected to the bracket, one of the two grippers 341 is provided with a third gear, the other one of the two grippers 341 is provided with a fourth gear, and the third gear is engaged with the fourth gear. A grabbing space is formed between the two tongs 341, the tong oil cylinder 36 is in transmission connection with any one of the tongs 341 to drive the tongs 341 to rotate, when the tongs 341 rotates, because the third gear is meshed with the fourth gear, the other tongs 341 is naturally driven to rotate, the two tongs 341 approach to each other, and the grabbing space is reduced.

Referring to fig. 2, in a possible embodiment, a plurality of vacuum suction devices 37 are provided on the main beam 31. Vacuum adsorption device 37 can conveniently adsorb the goods, and this vacuum adsorption device 37 is fit for snatching the goods of shape rule, for example can adsorb in the box surface, snatchs the box. The utility model provides a pile equipment of destacking can choose the material technology of snatching of two kinds of differences of mechanical centre gripping or vacuum adsorption respectively to different packing goods.

When bagged goods are loaded and unloaded, the near-end clamp 34 device clamps goods according to different rotation directions of the gears. Then the holding clamp 35 at the far end can hold the lower part of the material under the action of the telescopic oil cylinder, and meanwhile, the vacuum adsorption device 37 can be adsorbed on the goods.

The manipulator designed by the stacking and unstacking equipment has smaller size and height, and can longitudinally enter the operation environment with smaller space on the top of the box and the upper part of the material for operation. In addition, two different material grabbing processes of mechanical clamping or vacuum adsorption can be selected respectively for different packaged goods.

The frame 11 can be provided with a laser scanning device 4, the laser scanning device 4 carries out three-dimensional scanning and position coordinate measurement on the stack, and the stack is automatically loaded and unloaded according to the stack material stacking coordinate parameters obtained by scanning.

Referring to fig. 1, in one possible embodiment, the mobile cart 1 comprises a frame 11, a rear support leg 12, a rear drive wheel 13, a front drive wheel 14, a belt conveyor 15, a skid 16, a front support leg 17, and a luffing cylinder 18. The rear support leg 12 is movably connected to the frame 11 and the rear drive wheel 13 is connected to the rear support leg 12. The sliding frame 16 is slidably connected to the frame 11. One end of the belt conveyor 15 is hinged to the sliding frame 16. One end of the amplitude variation oil cylinder 18 is hinged to the sliding frame 16, and the other end of the amplitude variation oil cylinder is hinged to the belt conveyor 15. The front support leg 17 is connected to the side of the belt conveyor 15 remote from the skid 16. The mobile trolley 1 has a first obstacle crossing working condition and a second obstacle crossing working condition, and as shown in fig. 3, under the first obstacle crossing working condition, the luffing cylinder 18 extends to drive the belt conveyor 15 to incline and lift the front support leg 17, so that the front support leg 17 can be supported on the freight platform. The front support leg 17 is provided with support wheels, and as shown in fig. 4, under the second obstacle crossing condition, the rear support leg 12 extends out of the frame 11 and is perpendicular to the frame 11, so as to lift the frame 11. So that the frame 11 is in a horizontal position, in which the entire frame 11 is located on top of the cargo platform. The frame 11 is also provided with auxiliary wheels 112, and the front driving wheels 14 and the rear driving wheels 13 are continuously controlled to operate, so that the auxiliary wheels 112 can be supported on the freight platform 5. At this time, the rear support leg 12 can be controlled to return away from the ground and be accommodated inside the vehicle body frame 11. Thus, the obstacle crossing task is completed. The stacking and unstacking task can be conveniently performed on the goods subsequently. The amplitude cylinder 18 of the belt conveyor 15 can be linked with the rear supporting leg 12, so that the whole lifting of the stacking and unstacking equipment is realized, and the stacking and unstacking equipment can get into the interior of a railway carriage over the bank for loading and unloading operation.

The sliding frame 16 is arranged inside the frame 11 and moves along the frame 11 under the action of the sliding oil cylinder, so that the belt conveyor 15 moves back and forth. When the obstacle crossing operation is carried out, the amplitude variation oil cylinder 18 extends out, so that the belt conveyor 15 inclines for a certain angle, and the lifting of the whole vehicle can be realized by matching with the inclination of the rear supporting leg 12. When the front driving wheel 14 of the stacking and unstacking device contacts an obstacle, the auxiliary wheel 112 is put down, the sliding frame 16 moves towards the rear of the frame 11, the belt conveyor 15 is laid flat, and the whole trolley moves forwards. When the auxiliary wheels 112 contact the cargo platform, the rear support legs 12 return to a horizontal position and retract into the interior of the frame 11.

In a possible embodiment, the motor-driven trolley 1 is provided with a leg extension cylinder, the rear support leg 12 is slidably connected in the trolley frame 11, one end of the rear support leg 12 is hinged to the leg extension cylinder, a driven wheel is arranged on one side of the rear support leg 12 close to the rear driving wheel 13, and a driving gear 111 is arranged on the trolley frame 11. Under the second obstacle crossing working condition, the rear supporting leg 12 is in an extending state, the driving gear 111 is meshed with the driven gear, and the driving gear 111 drives the driven gear to rotate to drive the rear supporting leg 12 to rotate to be perpendicular to the frame 11. The rear supporting leg 12 is provided with a rear wheel swing oil cylinder, the telescopic end of the rear wheel swing oil cylinder is hinged to the wheel carrier of the rear driving wheel 13 to drive the rear driving wheel 13 to rotate, and when the rear supporting leg 12 rotates downwards, the rear driving wheel 13 also rotates correspondingly to keep the rear driving wheel in a horizontal state all the time.

Referring to fig. 1 and 3, in a possible embodiment, the destacking apparatus further comprises a connecting rod 19, one end of the connecting rod 19 is hinged to the sliding frame 16, the other end of the connecting rod 19 is hinged to the front support leg 17, the front support leg 17 is hinged to the belt conveyor 15, and the connecting rod 19 is parallel to the belt conveyor 15. The link 19, the belt conveyor 15, part of the carriage 16 and part of the front support leg form a parallel four-bar linkage. In the process of upward lifting of the belt conveyor 15, the front support legs can always keep a vertical state through the action of the four connecting rods, and the front support legs are conveniently supported on the freight platform.

Referring to fig. 1 and 3, in one possible embodiment, the movable boom mechanism 2 includes a boom lifting mechanism 21, a first-stage swing mechanism 22, a first-stage telescopic boom 23, a second-stage swing mechanism 24, a second-stage telescopic boom 25, a third-stage swing mechanism 26, and a robot lifting mechanism 27. Cantilever crane lifting mechanism 21 connect in frame 11, one-level rotation mechanism 22 connect in cantilever crane lifting mechanism 21, one-level telescopic cantilever crane 23 connect in one-level rotation mechanism 22, second grade rotation mechanism 24 connect in one-level telescopic cantilever crane 23, second grade telescopic cantilever crane 25 connect in second grade rotation mechanism, tertiary rotation mechanism 26 connect in second grade telescopic cantilever crane 25, manipulator lifting mechanism 27 connect in tertiary rotation mechanism 26, the manipulator connect in manipulator lifting mechanism 27.

The lifting mechanism consists of an outer cylinder, an inner cylinder, a screw rod mechanism and a rotary table, wherein the outer cylinder is fixedly connected to the frame 11, a copper sleeve is arranged in the outer cylinder and connected with the inner cylinder, the rotary table is fixedly connected to the upper portion of the inner cylinder, and the rotary table is connected with the first-stage swing mechanism 22 through bolts. The screw rod mechanism is arranged between the outer cylinder and the inner cylinder, and the servo motor or other motors can drive the screw rod to rotate so as to realize the lifting function of the screw rod mechanism. Or other mechanisms capable of performing linear motion are used to realize the lifting function.

The primary telescopic boom 23 includes a main boom 231, a main boom cylinder 232, and a main boom pitch cylinder 233. The main arm support 231 comprises a basic arm and a telescopic arm support, the basic arm is hinged to the first-stage swing mechanism, one end of the telescopic arm support is slidably connected to the basic arm, and the other end of the telescopic arm support is hinged to the second-stage swing mechanism. The main arm cylinder 232 comprises a cylinder barrel and a piston rod, the cylinder barrel is hinged to the first-stage swing mechanism, and the piston rod is hinged to the second-stage swing mechanism. One end of the main arm pitching oil cylinder 233 is hinged to the primary swing mechanism, and the other end is hinged to the basic arm. The main arm support 231 is parallel to the main arm cylinder 232, and the main arm support 231, the main arm cylinder 232, part of the primary swing mechanism and part of the secondary swing mechanism form a parallel four-bar mechanism, so that the secondary telescopic arm support can be always kept in a horizontal state. One-level revolution mechanic includes first swing motor, first gyration is supported and first gyration supporting seat, cylinder in the first slewing bearing for bolt fixed connection, first gyration supporting seat rotationally connects in first gyration and supports, set up first ring gear on the first gyration is supported, set up first swing motor on the first gyration supporting seat, the driving tooth of first swing motor meshes with this first ring gear mutually, first gyration supporting seat is together articulated with the main jib support 231 of one-level telescopic jib support 23, main jib support 231 can rotate around this hinge point. The main arm cylinder 232 is hinged to the first rotary supporting seat and the first main arm frame 231 respectively, and the main arm cylinder 232 enables the main arm frame 231 to rotate around the rotation hinge point of the main arm frame. Of course, the first-stage swing mechanism 22 may also have other structures as long as the first-stage swing mechanism can drive the first-stage telescopic boom 23 to rotate integrally when rotating.

The two-stage swing mechanism 24 is composed of a second swing motor, a second swing support and a second swing support. The second rotary supporting seat is hinged with the end portions of the main arm frame 231 and the main arm oil cylinder 232, the second rotary motor is installed below the second rotary supporting seat, the second rotary supporting seat is connected with the second-stage telescopic arm frame 25 through the second rotary support, an output gear of the second rotary motor is meshed with an outer tooth surface of the second rotary support, and the second rotary motor drives the second rotary support to rotate, so that the second-stage telescopic arm frame 25 is driven to rotate +/-120 degrees.

The third slewing mechanism comprises a third slewing motor, a third slewing bearing and a third slewing bearing. The third slewing bearing is fixedly connected with the head of the second-stage telescopic arm support 25 and the third slewing bearing, the third slewing motor is installed at the bottom of the third slewing bearing, the output teeth of the third slewing motor are meshed with the inner tooth surface of the third slewing bearing, and the slewing motor drives the slewing bearing to rotate so as to realize 360-degree rotation of the manipulator lifting mechanism 27.

The manipulator lifting mechanism 27 is composed of a first dovetail-shaped guide rail 271, a manipulator lifting oil cylinder and the like, wherein one end of the manipulator lifting oil cylinder is installed at the bottom of the oil cylinder support, and the other end of the manipulator lifting oil cylinder is installed at the top of the first dovetail-shaped guide rail 271. A second dovetail guide rail is arranged on one side of the third rotary support, and the dovetail guide rail of the manipulator lifting mechanism 27 is coupled with the second dovetail guide rail on the rotary support. The first dovetail-shaped guide rail 271 moves up and down on the third pivoting support under the action of the manipulator lift cylinder.

The manipulator lifting mechanism 27 further comprises a manipulator mounting seat 272, a screw rod, a motor and the like. The screw rod is nested in the manipulator mounting seat 272, and two ends of the screw rod are arranged at the upper end and the lower end of the first dovetail-shaped guide rail 271. Under the driving of the motor, the screw rod rotates to drive the manipulator mounting seat 272 to drive the manipulator to move up and down on the first dovetail-shaped guide rail 271. The main beam 31 of the robot is attached to the robot mount 272.

The five-dimensional movement function of the robot hand in the whole space domain can be obtained through the movement of the arm support lifting mechanism 21, the first-stage swing mechanism 22, the first-stage telescopic arm support 23, the second-stage swing mechanism 24, the second-stage telescopic arm support 25, the third-stage swing mechanism 26, the manipulator lifting mechanism 27 and the like.

The stacking and unstacking equipment is provided with terminal loading and unloading machine equipment which can automatically or semi-automatically load and unload the vehicles, containers, train carriages and the like for conveying packaged goods and can be in agile linkage with other loading and unloading conveying equipment at the front end and the rear end.

The invention realizes the equipment to move along the longitudinal parallel direction of the open-top truck and stack, unstack and load and unload the goods by arranging the rotary mechanisms, can place or grab the goods on the belt conveyor 15, and enables the belt conveyor 15 to be in a horizontal or inclined state by the amplitude-variable oil cylinder 18 of the belt conveyor 15, thereby carrying out high-level or low-level transportation of the goods.

The stacking and unstacking equipment can place the trays 6 on the belt conveyor 15 through the forklift, and can respectively carry out loading and unloading of packaging materials between the forklift trays 6 and stacking and unstacking operations.

The adjustable movable jib mechanism 2 of the stacking and unstacking equipment is lowered to be lower than the height of a door of a container or a train carriage, and then the telescopic jib and the manipulator are adjusted by utilizing the swing mechanism, so that the loading and unloading operation of packaging materials in the container or the train carriage is carried out.

In the application, the front driving wheels 14 and the rear driving wheels 13 can rotate freely, and the stacking and unstacking equipment can have various steering and maneuvering traveling functions such as longitudinal and transverse steering and pivot steering by controlling the angles of the front driving wheels 14 and the rear driving wheels 13, and can be connected with a conveyor in a traction manner to perform linkage loading and unloading operation.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A destacking apparatus, comprising:

a motorized trolley;

the movable arm support mechanism is connected to the motor trolley;

2. The stack unstacking apparatus according to claim 1 wherein the robot includes a main beam and a telescoping beam slidably connected to the main beam;

the driving mechanism comprises a clamping oil cylinder;

3. The stack unstacking apparatus according to claim 2 wherein the drive mechanism comprises a clamp cylinder, the clamp comprising a bracket and two grippers, the bracket being connected to the main beam;

the two tongs are rotatably connected to the bracket, one of the two tongs is provided with a third gear, the other of the two tongs is provided with a fourth gear, and the third gear is meshed with the fourth gear;

the clamp oil cylinder is in transmission connection with any one of the clamp claws and drives the clamp claws to rotate.

4. The stack unstacking apparatus according to claim 2 wherein a plurality of vacuum suction devices are provided on the main beam.

5. The stack unstacking equipment as claimed in claim 1, wherein the mobile trolley comprises a frame, a rear support leg, a rear driving wheel, a front driving wheel, a belt conveyor, a sliding frame, a front support leg and a luffing cylinder;

the rear supporting legs are movably connected to the frame, and the rear driving wheel is connected to the rear supporting legs;

the sliding frame is connected with the frame in a sliding way;

one end of the belt conveyor is hinged to the sliding frame;

6. The pile destacking equipment as claimed in claim 5, wherein the mobile trolley is provided with a leg telescopic cylinder, one end of the rear support leg is connected with the front driving wheel, the other end of the rear support leg is hinged to the leg telescopic cylinder, one end of the rear support leg close to the rear support leg is provided with a driven gear, and the frame is provided with a driving gear;

7. The stack unstacking apparatus according to claim 6 wherein the rear support leg is provided with a rear wheel swing cylinder, the telescopic end of the rear wheel swing cylinder being hinged to the rear drive wheel to drive the rear drive wheel to rotate.

8. The stack unstacking apparatus according to claim 5 further comprising a connecting rod, one end of the connecting rod being hinged to the slide carriage and the other end of the connecting rod being hinged to the front support leg, the front support leg being hinged to the belt conveyor, the connecting rod being parallel to the belt conveyor;

9. The stack unstacking apparatus according to claim 1 wherein the movable boom mechanism comprises a boom lifting mechanism, a primary swing mechanism, a primary telescopic boom, a secondary swing mechanism, a secondary telescopic boom, a tertiary swing mechanism, and a manipulator lifting mechanism;

10. The stack unstacking apparatus according to claim 9 wherein the primary telescoping boom comprises a main boom, a main boom cylinder, and a main boom pitch cylinder;

one end of the main arm pitching oil cylinder is hinged to the primary swing mechanism, and the other end of the main arm pitching oil cylinder is hinged to the basic arm;