CN115504158A - Unstacking and transporting system for materials in container - Google Patents

Abstract

The invention discloses a destacking and transporting system for materials in a container, which comprises a roller conveying platform truck, a swing arm conveying belt conveyor, a seven-axis robot and a grabbing module, wherein the roller conveying platform truck is arranged on the roller conveying platform truck; the left end of the roller conveying platform vehicle is hinged with the right end of the swing arm conveying belt machine; the left end of the top of the roller conveying platform vehicle is provided with a seven-axis robot; the wrist part of the seven-axis robot is provided with a grabbing module; the seven-axis robot is used for grabbing a material box in the container through the grabbing module on the seven-axis robot and then placing the material box on the top of the swing arm conveyor belt; the swing arm conveying belt conveyor is used for conveying the material box to the top of the roller conveying platform car after the material box is placed on the top of the swing arm conveying belt conveyor by the seven-axis robot; and the roller conveying platform vehicle is used for conveying the material box conveyed by the swing arm belt conveyor to an external unloading platform. The invention can efficiently and reliably unstack a plurality of work bin in the container and then convey the work bin to an external unloading platform, thereby obviously improving the efficiency of unstacking and conveying the work bin.

Description

Unstacking and transporting system for materials in container

Technical Field

The invention relates to the technical field of unstacking and transporting of materials in a container, in particular to an unstacking and transporting system for materials in a container.

Background

For cold chain containers (typically cuboid shaped, standard cartons, which may range in length from 340-600mm, width from 220-400mm, height from 140-220mm, and maximum weight of a single bin may be 50 Kg), it is typically necessary to store cold chain material (e.g. frozen seafood products) in a plurality of bins (typically cuboid shaped small cartons) and then stack the bins neatly inside the cold chain container during transport.

After the cold chain container is transported to a destination, in order to convey cold chain materials in the cold chain container outwards, a plurality of material boxes for storing the cold chain materials in the cold chain container need to be unstacked, then the materials are conveyed outwards to an external unloading platform (usually a telescopic roller conveyor which is used by customers and is mature in the prior art), and then the material boxes are conveyed to a conveying line of a next procedure by the external unloading platform to be placed and stacked. At this time, because the influence of the external temperature on the cold-chain materials is large, high requirements are placed on the efficiency of unstacking the bins in the cold-chain container and conveying the bins to the external unloading platform.

At present, to the unloading and the transport mode of cold chain container, adopt artifical mode mostly, not only work efficiency is low, can't satisfy the cold chain material and to the efficiency requirement of breaking a jam and carrying, moreover because the environment of placing of cold chain container is the environment that low temperature is moist usually, the staff works under the low temperature humid environment for a long time, influences staff's healthy.

Disclosure of Invention

The invention aims to provide a unstacking and transporting system for materials in a container, aiming at the technical defects in the prior art.

Therefore, the invention provides a destacking and transporting system for materials in a container, which comprises a roller conveying platform truck, a swing arm conveying belt conveyor, a seven-axis robot and a grabbing module, wherein the roller conveying platform truck is arranged on the roller conveying platform truck;

the left end of the roller conveying platform vehicle is hinged with the right end of the swing arm conveying belt machine;

the seven-axis robot is arranged at the left end of the top of the roller conveying platform vehicle;

the wrist part of the seven-axis robot is provided with a grabbing module;

the seven-axis robot is used for grabbing a material box in a container on the left side of the swing arm conveyor belt through a grabbing module arranged on the seven-axis robot, then rotationally moving the material box to the position above the left end of the swing arm conveyor belt, and placing the material box at the left end of the top of the swing arm conveyor belt;

the swing arm conveying belt conveyor is used for conveying the material box rightwards after the seven-axis robot places the material box at the top of the seven-axis robot until the material box is conveyed to a material discharging end on the left side of the top of the roller conveying platform vehicle;

the roller conveying platform vehicle is used for conveying the material boxes conveyed by the swing arm conveying belt machine from left to right and conveying the material boxes to an external unloading platform through a material box outlet on the right side of the roller conveying platform vehicle;

and the external unloading platform is positioned right of the roller conveying platform vehicle and connected with the right end part of the roller conveying platform vehicle.

Compared with the prior art, the technical scheme provided by the invention has the advantages that the unstacking and transporting system for the materials in the container is scientific in design, can be high-efficient, reliably break a jam with a plurality of workbins that are used for saving the cold chain material in the cold chain container, then outwards carry to current outside discharge platform on, show the improvement and break a jam and transport efficiency to the workbin, have important practical meaning.

After the unstacking and transporting system for the materials in the container is applied, workers do not need to manually perform unstacking and transporting operations, and the physical health of the workers is maintained.

Drawings

FIG. 1 is a schematic front view of the overall structure of a de-stacking and transporting system for materials in containers according to the present invention;

FIG. 2 is a schematic perspective view of a de-stacking and transporting system for materials in containers, which is a schematic axial view of the overall structure;

FIG. 3 is a schematic structural elevation view of a roller conveyor platform in the unstacking and transporting system for materials in containers according to the invention;

FIG. 4 is a schematic left side view of a roller conveyor platform in the unstacking transport system for materials in containers according to the invention;

FIG. 5base:Sub>A isbase:Sub>A schematic view taken along line A-A of FIG. 4;

FIG. 5b is an enlarged perspective view of a portion of area A (i.e., a peripheral area portion of the drive sprocket) of FIG. 5 a;

FIG. 5c is an enlarged schematic view of the peripheral portion of the area B in FIG. 5a (i.e., the peripheral portion of the second driving gear motor);

FIG. 6 is a schematic perspective view, namely an axial view, of a roller conveying platform truck in the unstacking and transporting system for materials in containers according to the invention;

FIG. 7a is a schematic perspective view of a swing arm conveyor belt mounted on a roller conveyor platform in an unstacking and transporting system for materials in containers according to the present invention;

FIG. 7b is an enlarged partial schematic view of the portion of FIG. 7a located around the perimeter of the lift motor;

FIG. 7c is an enlarged partial schematic view of the region of FIG. 7a located around the peripheral portion of the lifting screw;

fig. 8a is a schematic perspective view (i.e. a schematic axial view) of a telescopic belt conveying mechanism of a swing arm conveyor in the unstacking and conveying system for materials in containers according to the present invention;

FIG. 8b is an enlarged schematic view of a swing arm belt conveyor in the unstacking transportation system for materials in containers according to the present invention;

fig. 9a is a schematic perspective view (i.e. a schematic side view) of a seven-axis robot structure and a master control system mounted on a roller conveying platform vehicle in the unstacking transportation system for materials in containers according to the present invention;

FIG. 9b is a partially enlarged schematic view of the connection state between the gear and the rack mounted on the seven-axis walking drive motor of the seven-axis robot in the unstacking transportation system for the materials in the container according to the present invention;

fig. 10 is a schematic perspective view (i.e., a schematic axial view) of a gripping module in the unstacking transportation system for materials in containers according to the invention;

FIG. 11 is a rear view of a gripping module of the unstacked transport system for materials in containers according to the present invention;

in the figure: 1. the robot comprises a roller conveying platform vehicle, a swing arm conveying belt machine, a seven-axis robot, a grabbing module, a master control system and a robot control system, wherein the roller conveying platform vehicle comprises a roller conveying platform vehicle 2, a swing arm conveying belt machine 3, a seven-axis robot 4, a grabbing module 5 and a master control system;

1-1, a frame, 1-2, a platform truck walking mechanism, 1-3, a roller conveying mechanism, 1-4 and a guard plate;

1-2-1, a first driving speed reduction motor, 1-2-2, a driving chain wheel, 1-2-3, a driving shaft, 1-2-4, a driven chain wheel, 1-2-5, a front wheel, 1-2-6, a driven shaft, 1-2-7 and a rear wheel;

1-3-1 parts of conveying roller group, 1-3-2 parts of baffle plate, 1-3-3 parts of baffle plate and a second driving speed reduction motor;

2-1, a lifting motor, 2-2, a turntable and 2-3 rotating shafts; 2-4 parts of a belt conveyor bearing seat, 2-5 parts of a belt conveyor frame;

2-6 parts of lifting screw seats, 2-7 parts of lifting screws, 2-8 parts of fixed belt conveying mechanisms, 2-9 parts of telescopic belt conveying mechanisms, 2-10 parts of adjustable baffles;

2-11, an end roller, 2-12 and a first laser ranging sensor;

2-9-1 parts of a telescopic belt rack, 2-9-2 parts of a first linear guide rail, 2-9-3 parts of an electric cylinder;

3-1 parts of a second linear guide rail, 3-2 parts of a robot base, 3-3 parts of a six-axis robot, 3-4 parts of a seven-axis walking driving motor, 3-5 parts of a gear;

3-6 parts of rack, 3-7 parts of drag chain, 3-8 parts of dead gear;

4-1, an end base, 4-2, a sucker mounting rack, 4-3, a vacuum pump sucker group, 4-4, a visual camera base, 4-5 and a visual camera;

4-6 parts of a second laser ranging sensor, 4-7 parts of a vacuum filter;

5-1 parts of a blower, 5-2 parts of an electric control cabinet;

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments of the present invention, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1 to 4, 5a to 5c, 6, 7a to 7c, 8a to 8b, 9a to 9b, and 10 to 11, the present invention provides a destacking transportation system for materials in containers, which comprises a roller conveying platform truck 1, a swing arm conveyor belt 2, a seven-axis robot 3, and a gripping module 4;

the left end of the roller conveying platform car 1 is hinged (namely rotatably connected) with the right end of the swing arm conveying belt machine 2;

the seven-axis robot 3 is arranged at the left end of the top of the roller conveying platform car 1;

the wrist part of the seven-axis robot 3 is provided with a grabbing module 4;

the seven robots 3 are used for grabbing a work bin in a container on the left of the swing arm conveyor belt 2 through the grabbing modules 4 mounted on the robots, then rotationally moving the work bin to the upper portion of the left end of the swing arm conveyor belt 2, and placing the work bin at the left end of the top of the swing arm conveyor belt 2;

the swing arm conveyor belt 2 is used for conveying the material box rightwards after the seven-axis robot 3 places the material box on the top of the seven-axis robot until the material box is conveyed to a material discharging end (namely the leftmost end position) on the left side of the top of the roller conveying platform truck 1;

the roller conveying platform vehicle 1 is used for conveying the material boxes conveyed by the swing arm conveying belt machine 2 from left to right and conveying the material boxes to an external unloading platform through a material box outlet 101 on the right side of the roller conveying platform vehicle;

and the external unloading platform is positioned right to the roller conveying platform car 1 and connected with the right end part of the roller conveying platform car 1.

It should be noted that the height of the external unloading platform may be equal to or lower than the height of the bin outlet 101 at the right side of the roller conveyor platform car 1.

In the invention, the roller conveying platform car 1 with the car frame 1-1 can be the existing car frame with the functions of horizontal movement on the ground and steering.

It should be noted that, in the present invention, the roller conveying platform car 1, which is used for supporting and traveling the whole system equipment, may have functions of advancing and retreating and small angle steering, and the roller assembly (i.e. the roller conveying mechanism 1-3) provided in the middle thereof is used for receiving the bins conveyed by the swing arm conveyor belt 2 and outputting the bins outwards.

In the invention, the swing arm conveyor belt 2 is connected and arranged at the left end of a frame 1-1 of the roller conveyor platform vehicle 1 through a rotating shaft, and is used for receiving and conveying a material box detached from a container by a grabbing module 4 and conveying the material box to a roller assembly (namely a roller conveying mechanism 1-3) of the roller conveyor platform vehicle 1. The height of the swing arm belt conveyor 2 is adjustable, the swing arm belt conveyor can receive workbins at different height positions, the two sides of the swing arm belt conveyor have expansion functions, the swing arm belt conveyor retracts when the swing arm belt conveyor travels, and extends out when the swing arm belt conveyor receives materials, so that the workbins are prevented from leaking;

in the present invention, referring to fig. 3 to 4 and 5a to 5c, the roll table truck 1 includes a truck frame 1-1;

a roller conveying mechanism 1-3 is laid on the upper part of the frame 1-1;

and the top of the roller conveying mechanism 1-3 is used for receiving a material box placed by the seven-axis robot 3 and conveying the material box to the right to the top of the roller conveying platform car 1.

It should be noted that the vehicle frame 1-1 is a supporting frame of the whole system equipment;

in the concrete implementation, the lower part of the frame 1-1 is provided with a platform truck walking mechanism 1-2;

and the platform truck travelling mechanism 1-2 is used for driving the truck frame 1-1 to horizontally move on the ground.

The platform truck travelling mechanism 1-2 specifically comprises a first driving speed reduction motor 1-2-1;

the first driving speed reducing motor 1-2-1 is arranged at the bottom of the frame 1-1;

an output shaft end (namely the output shaft 1-2-1-1 of the first driving speed reduction motor) of the first driving speed reduction motor 1-2-1 is provided with a driving chain wheel 1-2-2;

the front side and the rear side of the left end of the bottom of the frame 1-1 are respectively provided with a first bearing seat;

a driving shaft 1-2-3 which is longitudinally distributed is respectively arranged in the bearing inner ring of each first bearing seat;

the two driving shafts 1-2-3 are symmetrically distributed in front and back;

it should be noted that the two driving shafts 1-2-3 are supported by the first bearing seat and are symmetrically arranged at the two sides of the left bottom plate of the frame 1-1.

Each driving shaft 1-2-3 is provided with a driven chain wheel 1-2-4 and a front wheel 1-2-5;

the driving chain wheel 1-2-2 is in linkage connection with the driven chain wheel 1-2-4 through a first chain which is distributed annularly;

it should be noted that the left and right ends of the first chain respectively bypass the left side of the driven sprocket 1-2-4 and the right side of the driving sprocket 1-2-2, and the driven sprocket 1-2-4 and the driving sprocket 1-2-2 are located inside the first chain. The platform truck walking mechanism 1-2 adopts a chain transmission mechanism, and the driving chain wheel 1-2-2 is connected with the driven chain wheel 1-2-4 through a first chain, so that power is transmitted to the front wheel 1-2-5, and power transmission is provided for the walking of the roller conveying platform truck 1.

A second bearing seat is respectively arranged on the front side and the rear side of the right end of the bottom of the frame 1-1;

the two second bearing seats are symmetrically distributed in the front and the back;

the front end and the rear end of a driven shaft 1-2-6 which is longitudinally distributed are respectively connected with the bearing inner rings of two second bearing seats;

it should be noted that the driven shaft 1-2-6 is supported by two second bearing seats and is arranged at the lower part of the right bottom plate of the frame 1-1;

two rear wheels 1-2-7 are arranged at two ends of each driven shaft 1-2-6;

it should be noted that, for the present invention, the first driving deceleration motor 1-2-1 transmits power to the front wheel 1-2-5 through a chain wheel and chain transmission manner to provide power for the traveling of the roller conveying platform car 1, and the rear wheel 1-2-7 is a driven wheel and is matched with the front wheel 1-2-5 to realize the forward and backward movement of the roller conveying platform car 1.

In particular, the roller conveying mechanism 1-3 comprises a conveying roller group 1-3-1;

the conveying roller group 1-3-1 is positioned in the middle of the upper part of the frame 1-1;

the conveying roller group 1-3-1 comprises three roller support frames 1-3-1-2 which are distributed at intervals in the longitudinal direction;

the three roller support frames 1-3-1-2 are fixedly arranged on the frame 1-1 and are respectively positioned at the front side, the rear side and the longitudinal middle position of the lower part of the frame 1-1;

a row of transverse rollers are pivoted (namely rotatably connected) between any two adjacent roller support frames 1-3-1-2;

each row of transverse rollers respectively comprises a plurality of cylindrical rollers 1-3-1-1 which are longitudinally distributed and transversely spaced;

the front end and the rear end of each roller 1-3-1-1 are respectively pivoted (namely rotatably connected) with the two adjacent roller support frames 1-3-1-2;

the outer side end of each roller 1-3-1-1 (i.e. the end of the roller support frame 1-3-1-2 far away from the longitudinal middle position) is respectively provided with a third chain wheel 1-3-1-1-1 and a fourth chain wheel 1-3-1-1-2;

it should be noted that, when the roller 1-3-1-1 is installed, the third chain wheel 1-3-1-1-1 and the fourth chain wheel 1-3-1-1-2 are required to be ensured to be positioned at the front and rear outer sides, so that the chain wheels and the second driving speed reduction motor 1-3-3 are positioned at the same side, and the roller is convenient to move and convey.

The third chain wheel 1-3-1-1-1 is positioned at the front side of the fourth chain wheel 1-3-1-1-2 and is spaced from the fourth chain wheel;

the fourth chain wheels 1-3-1-1-2 on each pair of rollers 1-3-1-1 are respectively linked and connected through a second chain 1-3-1-3 which is distributed annularly; it should be noted that the fourth chain wheel 1-3-1-1-2 on each pair of rollers 1-3-1-1 is positioned at the inner side of the second chain; the invention is provided with a plurality of second chains 1-3-1-3 in total, wherein each second chain 1-3-1-3 is respectively used for connecting a pair of rollers 1-3-1-1;

a second driving speed reduction motor 1-3-3 is respectively arranged at the front side and the rear side of the right end of the bottom of the frame 1-1;

the output shaft end of each second driving speed reducing motor 1-3-3 is respectively provided with a fifth chain wheel 1-3-3-1 (as a driving chain wheel);

two adjacent third chain wheels 1-3-1-1-1 (as driven chain wheels) on two adjacent pairs of rollers 1-3-1-1 which are positioned right above each fifth chain wheel 1-3-3-1 are in linkage connection with the fifth chain wheels 1-3-3-1 on the second driving speed reducing motor 1-3-3-1 positioned below through a third chain 1-3-3-2 which is distributed annularly and is arranged in the vertical direction, so that the second driving speed reducing motor 1-3-3 transmits power to the conveying roller group 1-3-1;

it should be noted that, except that two adjacent third chain wheels 1-3-1-1-1 on two adjacent pairs of rollers 1-3-1-1 located right above each fifth chain wheel 1-3-3-1 are linked and connected through a third chain 1-3-3-2 distributed annularly, two adjacent third chain wheels 1-3-1-1 on any two adjacent pairs of rollers 1-3-1-1 at other positions are linked and connected through a fourth chain distributed annularly (the left and right ends of the fourth chain are respectively sleeved on two adjacent third chain wheels 1-3-1-1-1 on two adjacent pairs of rollers 1-3-1-1), and the length of the fourth chain is smaller than that of the third chain.

The fifth chain wheel 1-3-3-1 and the third chain wheel 1-3-1-1 are arranged in a coplanar manner from top to bottom;

it should be noted that the left and right ends of the third chain respectively bypass the third sprocket and the fifth sprocket, and the third sprocket and the fifth sprocket are located inside the third chain

It should be noted that, for the present invention, the conveying roller group 1-3-1 transmits power to each pair of rollers in turn by a pair of rollers directly receiving power (i.e. the rollers located right above the second driving speed reduction motor 1-3-3) and a fourth chain wheel 1-3-1-1-2 connecting two adjacent rollers through a second chain 1-3-1-3.

It should be noted that, for the present invention, the conveying roller set 1-3-1 is connected with each roller through a chain, so that the bin can be continuously conveyed on the platform truck. Two rows of conveying roller sets 1-3-1 can be arranged at the upper part of the roller conveying platform vehicle 1; two rows of conveying roller sets 1-3-1 are laid on the upper portion of the vehicle frame 1-1 side by side.

In the concrete implementation, two baffles 1-3-2 which are symmetrically distributed at the front and the back are arranged at the top of the conveying roller set 1-3-1 at intervals (the baffles 1-3-2 can not influence the rotation of the conveying roller set).

In specific implementation, the width of the longitudinal gap between the two baffles 1-3-2 is gradually reduced from left to right (i.e. the width is reduced).

It should be noted that, in the present invention, the baffle 1-3-2 is arranged in a manner of narrowing from width to width, in order to guide the bin placed in the conveying roller set 1-3-1 through the baffle 1-3-2, and when the bin is conveyed on the conveying roller set 1-3-1, a row of paths convenient for conveying to the external unloading platform can be formed.

It should be noted that, for the invention, the driving mode of the roller conveying mechanism 1-3 is the same as the power transmission mode of the platform car walking mechanism 1-2, specifically, the roller driving speed reducing motor 1-3-2 is adopted to provide power, the power is transmitted to the conveying roller set 1-3-1 through the chain wheel and the chain, so that the material box is conveyed to the external unloading platform at the outer side of the right end of the swing arm conveying belt machine 2 from one side of the swing arm conveying belt machine 2;

in the concrete implementation, the front side and the rear side of the top of the frame 1-1 are respectively provided with vertically distributed guard plates 1-4. The guard plates 1-4 are 6 in total and are respectively arranged on the front and rear outer sides of the frame 1-1 to play a role in protection;

in the concrete implementation, the conveying roller set 1-3-1 and the baffle plate 1-3-2 are made of stainless steel materials.

The driving speed reducing motors of the platform truck walking mechanism 1-2 and the roller conveying mechanism 1-3 are all existing driving speed reducing motors, and can be, for example, the driving speed reducing motor of the German SEW brand;

in the present invention, referring to fig. 7a, 7b, 8a and 8b, a swing arm conveyor 2 comprises a belt frame 2-5 (i.e. an integral frame) and two lifting motors 2-1;

two lifting motors 2-1 are respectively arranged at the front side and the rear side of the left end of the top of the frame 1-1;

it should be noted that, in the concrete implementation, the two lifting motors 2-1 are symmetrically distributed in the front and back direction and are used for providing power for lifting the swing arm conveyor belt 2.

The output shaft end of each lifting motor 2-1 is respectively provided with a turntable 2-2;

the front side and the rear side of the left end part of the frame 1-1 are respectively provided with a rotating shaft 2-3 which is longitudinally distributed;

a belt conveyor bearing seat 2-4 is respectively arranged at the front side and the rear side of the right end part of the swing arm belt conveyor 2;

one end of each belt conveyor bearing block 2-4, which is close to the frame 1-1, is provided with a bearing inner ring which is respectively connected with a rotating shaft 2-3; that is to say, the rotating shaft 2-3 is arranged on a bearing seat 2-4 of the belt conveyor and is in transition connection with the bearing.

One end of each belt conveyor bearing block 2-4, which is far away from the frame 1-1, is fixedly connected with the front side and the rear side of the right end of the belt frame 2-5;

the belt frame 2-5 is supported and installed through belt bearing blocks 2-4 on two sides of the swing arm conveying belt 2;

the middle positions of the front side and the rear side of the belt rack 2-5 are respectively and fixedly provided with a lifting screw rod seat 2-6;

the upper part of each lifting screw rod seat 2-6 is respectively provided with a lifting screw rod 2-7;

each lifting screw 2-7 is respectively connected with the rotary table 2-2 on the same side through a steel wire rope, so that the swing lifting of the swing arm conveyor belt 2 is realized;

it should be noted that the lifting motor 2-1 is a mature driving motor in the prior art, is arranged on the front side and the rear side of the left end of the frame, and is used for installing the turntable 2-2 and lifting the swing arm belt conveyor 2 through a steel wire rope.

It should be noted that two ends of the steel wire rope are respectively connected with the lifting screw 2-7 and the rotary table 2-2, one end of the steel wire rope is wound on the rotary table 2-2, and the other end of the steel wire rope is connected with the lifting screw 2-7 (specifically, the other end of the steel wire rope bypasses the connecting shaft 2-70 between the two side lugs at the upper part of the lifting screw 2-7, and the end part of the steel wire rope is fixedly pressed through the steel wire rope fastening sleeve). When the turntable 2-2 rotates clockwise, the steel wire rope can be wound, so that the exposed length of the steel wire rope is shortened, and the swing arm belt conveyor 2 is lifted upwards and rightwards; when the rotary table 2-2 rotates anticlockwise, the steel wire rope can be released, so that the exposed length of the steel wire rope is lengthened, the left and downward lowering operation of the swing arm belt conveyor 2 is realized, and the swing arm belt conveyor 2 has a height adjustable function.

The lower part of the threaded lifting screw 2-7 passes through a through hole on a top support plate of the lifting screw seat 2-6 and is locked by a nut; in order to prevent a rigid contact between the nut and the lifting screw seat 2-6 when the lifting screw 2-7 is lifted up or lowered down again, a high-gravity rubber block (i.e., a buffer block, located between the nut and the bottom surface of the top support plate of the lifting screw seat 2-6) is installed at the lower portion of the lifting screw 2-7 to perform a buffering function. Because the lifting part adopts a screw rod form, the adjustability of the length of the steel wire rope is increased.

The upper area of the belt rack 2-5 is provided with a plurality of groups (not limited to four groups) of fixed belt conveying mechanisms 2-8;

it should be noted that the plurality of sets (not limited to four sets) of fixed belt conveying mechanisms 2 to 8 are installed symmetrically in the front-rear direction.

A pair of telescopic belt conveying mechanisms 2-9 are respectively arranged at the front side and the rear side of the upper part of the belt rack 2-5;

in particular, two pairs of telescopic belt conveying mechanisms 2-9 are symmetrically distributed in the front and back direction;

in the concrete implementation, the front side surface and the rear side surface of the left end part of the frame 1-1 are respectively provided with a first laser ranging sensor 2-12;

in particular, referring to fig. 8a, the telescopic belt conveying mechanism 2-9 comprises a telescopic belt rack 2-9-1;

a first linear guide rail 2-9-2 which is longitudinally distributed is respectively arranged below the left end and the right end of the telescopic belt rack 2-9-1;

the two first linear guide rails 2-9-2 are distributed in bilateral symmetry;

two first linear guide rails 2-9-2 are arranged at the top of the belt rack 2-5;

the sliding blocks on the two first linear guide rails 2-9-2 are connected with the bottom of the telescopic belt rack 2-9-1;

it should be noted that the guide rail part (specifically, the installation base of the guide rail) of the first linear guide rail 2-9-2 is installed on the belt rack 2-5;

a telescopic electric cylinder 2-9-3 is arranged right below the telescopic belt frame 2-9-1;

the output end of the electric cylinder 2-9-3 is connected with the lower side of the middle part of the telescopic belt rack 2-9-1;

the cylinder body of the electric cylinder 2-9-3 is arranged at the top of the belt frame 2-5, and the installation position of the electric cylinder is closer to the outer side end of the belt frame 2-5 than the installation positions of the two first linear guide rails 2-9-2;

the left end and the right end of the telescopic belt frame 2-9-1 are respectively pivoted (i.e. rotatably arranged) with a first driving roller 2-90 which is longitudinally distributed and a first unpowered roller 2-91 which is longitudinally distributed;

the first driving rollers 2-90 and the first unpowered rollers 2-9 are distributed at left and right intervals;

the first driving roller 2-90 and the first unpowered roller 2-91 are in linkage connection through an annular belt; the belt is wound on the outer sides of the driving rollers 2-90 and the first unpowered rollers 2-91;

it should be noted that the electric cylinder 2-9-3 is matched with the first linear guide rail 2-9-2 to realize the telescopic adjustment function of the telescopic belt conveyor 2-9.

It should be noted that the first drive roller 2 to 90 rotates clockwise.

It should be noted that the telescopic belt conveying mechanism 2-9 includes a first driving roller 2-90 therein, the first driving roller 2-90 is used for providing power for the telescopic belt conveying mechanism 2-9, and a driving motor is disposed in the first driving roller 2-90 and can rotate clockwise. The first drive rollers 2-90 are conveyor drive rollers well known in the art and are conventional in the art and will not be described further herein.

Specifically, one of the multiple groups of fixed belt conveying mechanisms 2-8 comprises three groups, specifically two groups of short fixed belt conveying mechanisms 2-8-1 and one group of long fixed belt conveying mechanisms 2-8-2;

in the concrete implementation, for two groups of short fixed belt conveying mechanisms 2-8-1, the left end and the right end of a frame of each group of short fixed belt conveying mechanisms 2-8-1 are respectively pivoted (namely rotatably arranged) with a longitudinally distributed second driving roller 2-80 and a longitudinally distributed second unpowered roller 2-81; wherein, the second unpowered rollers 2-81 of the two groups of short fixed belt conveying mechanisms 2-8-1 are shared rollers.

The second driving rollers 2-80 and the second unpowered rollers 2-81 are distributed at intervals left and right;

the second driving roller 2-80 and the second unpowered roller 2-81 are in linkage connection through an annular belt; the belt is wound on the outer sides of the second driving roller 2-80 and the second unpowered roller 2-81;

it should be noted that the second driving rollers 2 to 80 rotate clockwise.

It is to be noted that the right ends of the three groups of fixed belt conveyors are three unpowered rollers,

in particular, for the long fixed belt conveying mechanism 2-8-2, the left end of the frame is pivoted (i.e. rotatably arranged) with a second driving roller 2-80 and two third unpowered driving rollers 2-82, and the right end of the frame is pivoted (i.e. rotatably arranged) with a second unpowered roller 2-81 (i.e. the same second unpowered roller 2-81 is shared with the two short fixed belt conveying mechanisms 2-8-1);

it should be noted that the long fixed belt conveying mechanism 2-8-2 includes four narrow belts 2-83, the right sides of the two narrow belts 2-83 located at the outer side are sleeved on the second unpowered rollers 2-81 of the short fixed belt conveying mechanism 2-8-1, and the left sides of the two narrow belts 2-83 located at the outer side are sleeved on the third unpowered rollers 2-82. The left sides of the two narrow belts 2-83 positioned in the middle part are sleeved on the second driving rollers 2-80, and the right sides are sleeved on the second unpowered rollers 2-81 of the short fixed belt conveying mechanism 2-8-1.

It should be noted that the second driving rollers 2 to 80 rotate clockwise.

It should be noted that the fixed belt conveying mechanism 2-8 includes a second driving roller 2-80 therein, the second driving roller 2-80 is used for providing power for the fixed belt conveying mechanism 2-8, and a driving motor is disposed in the second driving roller 2-80 and can rotate clockwise. The second drive rollers 2-80 are conveyor drive rollers well-established in the art and are conventional in the art and will not be described further herein.

It should be noted that the left and right ends of the belt respectively bypass the driving belt roller and the driven belt roller, and the driving belt roller and the driven belt roller are located on the inner side of the belt. Through the friction performance of the belt, when the belt conveyor is positioned at different angles, the material boxes placed on the belt conveyor can be stably conveyed to the roller conveying platform vehicle 1 on the right side.

In particular, the front side and the rear side of the top of the long fixed belt conveying mechanism 2-8-2 are respectively provided with an adjustable baffle 2-10;

the two adjustable baffles 2-10 are symmetrically distributed in front and back;

the width of the longitudinal gap between the two adjustable baffles 2-10 is gradually reduced from left to right, namely the width is reduced from wide to narrow;

the left end of each adjustable guide plate 2-10 is hinged with one telescopic belt frame 2-9-1 positioned on the left side.

It should be noted that the adjustable guide plates 2-10 are formed by connecting stainless steel plates, and the left ends of the adjustable guide plates are hinged to the telescopic belt frame 2-9-1 in a hinged mode, so that follow-up adjustment can be performed along with the width of the telescopic belt conveying mechanism 2-9.

In the concrete implementation, the left end of the swing arm conveyor belt 2 is pivoted with (namely rotatably connected with) two pairs of longitudinally distributed end rollers 2-11;

it should be noted that the end rollers 2-11 are used for directly conveying the lowest bin in the container in the form of a shovel plus a roll, and the material is stainless steel.

In specific implementation, the end rollers 2-11 comprise two pairs, wherein one pair of end rollers 2-11 is in a telescopic form, is symmetrically distributed at the left end of the telescopic belt conveying mechanism 2-9 in a front-back manner and is connected with the left end of a telescopic belt rack 2-9-1 in the telescopic belt conveying mechanism 2-9, so that the end rollers can be stretched along with the telescopic belt conveying mechanism 2-9, and the other pair of end rollers 2-11 is not telescopic and is fixedly arranged at the left end of the fixed belt conveying mechanism 2-8.

It should be noted that the end rollers 2-11 can be driven by a conveyor driving roller of the prior art, and can rotate clockwise, which is a conventional device and will not be described herein.

In particular, the first laser ranging sensors 2-12 are electronic products mature in the prior art and have the characteristics of high detection sensitivity, durability and the like.

The following explains a specific working process of the swing arm belt conveyor 2 provided by the present invention, which comprises the following steps:

step 1, the roller conveying platform truck 1 is stopped beside a container;

step 2, the lifting motor 2-1 adjusts the height of the swing arm conveyor belt 2 by pulling the steel wire rope so as to adapt to the distance between the grabbing module 4 and the swing arm conveyor belt 2 and prevent the bin from being damaged due to the dropping height difference;

step 3, according to data detected by the first laser ranging sensors 2-12, the electric cylinders 2-9-3 drive the telescopic belt mechanisms 2-9 to extend and retract towards the width direction (namely the longitudinal direction) of the swing arm conveyor belt 2, so that the adjustable baffles 2-10 at the upper part are attached to the side wall of the container, and the work bin is prevented from falling outside;

it should be noted that the first laser ranging sensors 2-12 are used for detecting the distance between the roller platform truck 1 and the container in the width, height and length directions, and then according to the collected data, the longitudinal width of the telescopic belt conveying mechanisms 2-9, the height of the swing arm belt conveyor 2 and the back-and-forth movement distance of the roller platform truck 1 can be adjusted correspondingly.

Step 4, for the material boxes stored in the container, the seven-axis robot 3 provided with the grabbing module 4 adopts a layered grabbing strategy (namely a first scheme), each layer of material box is grabbed for three times (different grabbing strategies are used according to different material box placing forms), the grabbing scheme of the last layer (namely the bottom layer) of material boxes preferentially adopts end rollers 2-11 to roll up and is matched with the roller conveying platform vehicle 1 to move leftwards (namely to move towards the container direction), and thus the material boxes are collected to the swing arm conveying belt conveyor 2; if the first scheme cannot be completed, the seven-axis robot 3 provided with the grabbing module 4 directly grabs (or pulls) the material box from the top of the material box by adopting the guidance of the vision camera arranged on the grabbing module 4, and grabs the material box to the top of the telescopic belt mechanism 2-9 or the fixed belt conveying mechanism 2-8 of the swing arm conveying belt machine 2.

And step 5, because the front part of the swing arm belt conveyor 2 is wide and the rear part of the swing arm belt conveyor is narrow, the fixed belt conveying mechanisms 2-8 and the telescopic belt conveying mechanisms 2-9 adopt differential conveying, so that the condition that the conveying is influenced by accumulation of a bin at the left end of the swing arm belt conveyor 2 is avoided.

In the present invention, in terms of specific implementation, referring to fig. 9a, 9b and 10, the seven-axis robot 3 includes two second linear guide rails 3-1 distributed transversely;

the upper parts of the front side and the rear side of the frame 1-1 are respectively provided with a second linear guide rail 3-1;

it should be noted that the guide rail part of the second linear guide rail 3-1 is installed on the upper parts of the front and rear sides of the frame 1-1;

the sliding block top plates of the two second linear guide rails 3-1 are provided with a robot base 3-2 which is horizontally distributed;

a six-axis robot 3-3 is arranged at the top of the robot base 3-2;

the seven-axis walking driving motor 3-4 is arranged on the rear side of the top 3-2 of the robot base;

a gear 3-5 is arranged on an output shaft at the lower part of the seven-shaft traveling driving motor 3-4;

a rack 3-6 which is transversely distributed is arranged at the rear side of the frame 1-1;

the gear 3-5 is meshed with the rack 3-6.

In the concrete implementation, the connecting cables of the six-axis robot 3-3 and the seven-axis walking driving motor 3-4 are arranged in the drag chain 3-7;

one end of the moving end of the drag chain 3-7 is arranged on the robot base 3-2, and the other end is arranged on the left side wall of an electric control cabinet 5-2 in the master control system 5;

in the concrete implementation, the left side and the right side of each second linear guide rail are respectively provided with a dead gear 3-8;

and the dead stop 3-8 is fixedly arranged at the top of the front side or the rear side of the frame 1-1.

In the present invention, the second linear guide 3-1 is used for the travel guide support of the seven-axis robot.

In the concrete implementation, the six-axis robot 3-3 is a six-axis robot mature in the prior art, for example, a BT200 model six-axis robot product of kawasaki brand, and the robot of the model is a downward-probing robot, can conveniently grab a bin in a container, and simultaneously has the functions of carrying, spot welding, gluing, being guided by vision and the like.

Specifically, the seven-axis walking driving motor 3-4 is used for providing power for the seven-axis robot, and specifically may be an integrated body of a speed reducer and a motor (i.e., a speed reduction motor), or may include a motor and a speed reducer, wherein an output end of the motor is connected to an input end of the speed reducer, a gear 3-5 is mounted on an output end of the speed reducer, and the speed reducer may be a planetary speed reducer mature in the prior art, such as a planetary speed reducer of a brand such as alpha, APEX, and the like.

Specifically, the gears 3-5 are in standard helical tooth profiles and are installed in a matched mode with the output shafts of the seven-axis walking driving motors 3-4, the tooth surfaces of the gears 3-5 can be improved in toughness and hardness through heat treatment, the service life is prolonged, and the gears 3-5 are used in a matched mode with the racks 3-6 and used for converting rotary motion output by the seven-axis walking driving motors 3-4 into linear motion. The connection structure of the gear and the rack and the driving technology are conventional technologies and are not described herein.

In the concrete implementation, the racks 3-6 adopt YYC standard tooth shapes, are fixedly connected to the upper part of the frame 1-1 through pin hole positioning bolts and are matched with the gears 3-5 for use, and are used for converting the rotary motion output by the seven-axis walking driving motors 3-4 into linear motion.

In particular, the drag chain 3-7 is a mature product in the prior art and is used for protecting a power cable and a signal cable which are arranged on the system when the robot base 3-2 reciprocates.

In specific implementation, the dead stops 3-8 are specifically made of polyurethane rubber buffer blocks for elastic buffering, impact at two ends of the system is reduced, the robot base 3-2 is prevented from sliding out of the second linear guide rail 3-1 when the robot base breaks down when walking to the position, reliability and safety of the system are improved, and a buffering effect is good.

It should be noted that, in the present invention, the seven-axis robot 3 is installed on the left side of the upper portion of the frame 1-1 of the roller conveying platform car 1 through the second linear guide 3-1, so as to realize the connection between the seven-axis robot 3 and the roller conveying platform car 1.

It should be noted that, in the present invention, the seven-axis robot 3 further extends the accessibility on the basis of a standard six-axis robot, and adds an external walking axis as an execution component of the system of the present invention, which has the advantages of high flexibility and large reachable range. The six-axis robot is matched with a vision camera for guiding, the grabbing module 4 arranged on the six-axis robot 3-3 can grab the workbins in different positions and different placing postures.

In particular, the gripper module 4 is mounted on the seven-axis robot 3 by means of its end mount 4-1. When roller conveying platform car 1 march to appointed position (for example when being close to container right side), accomplish the workbin location of different position height through feeding of seven robots 3, then through snatching the sucking disc in module 4 with the workbin and inhale firmly, realize snatching the operation to place the workbin swing arm conveyor belt 2 top.

In the present invention, in particular, referring to fig. 10 and 11, the grabbing module 4 includes an end base 4-1;

one end of the end socket base 4-1 is arranged on a wrist part of a six-axis robot 3-3 in the seven-axis robot 3, and the other end is provided with a sucker mounting rack 4-2;

visual camera bases 4-4 are arranged at intervals on the top of the sucker mounting frame 4-2;

a vacuum pump sucker group 4-3 is arranged on the left side of the sucker mounting rack 4-2;

the visual camera 4-5 is arranged on the visual camera base 4-4 through a hole;

and a second laser ranging sensor 4-6 is arranged on the rear side of the top of the sucker mounting frame 4-2.

In the invention, in particular, a vacuum filter 4-7 is arranged at the top of a robot base 3-2;

it should be noted that, in the present invention, the end base 4-1 is a connection device between the suction cup mounting rack 4-2 and the wrist portion of the six-axis robot 3-3.

In the invention, the sucker mounting rack 4-2 is formed by connecting a plurality of plates through bolts, is fixed with the end socket base 4-1 through the bolt connection and is used for mounting and supporting the sucker group 4-3 of the vacuum pump;

in the invention, the vacuum pump sucker group 4-3 is a mature product in the prior art, such as a vacuum pump sucker group product produced by SMC company and used for adsorbing and grabbing a material box;

in the invention, the vision camera base 4-3 is fixed on the sucker mounting rack 4-2 through bolt connection and is used for supporting and positioning and mounting the vision camera 4-5.

In the invention, a vision camera 4-5 is used for collecting the placement image information of the material box in the container and transmitting the information to a control system of a six-axis robot 3-3, so that the control system of the six-axis robot 3-3 controls a grabbing module 4 to grab the material box;

in the invention, the second laser ranging sensors 4-6 are electronic products mature in the prior art, have the characteristics of high detection sensitivity, durability and the like, are distributed at the rear part of the sucker mounting rack 4-2, specifically comprise two groups of 3, and are respectively used for detecting the distances between the grabbing module 4 and the container from the upper side to the lower side and from the left side to the right side when the grabbing module 4 extends into the container.

It should be noted that the data detected by the second laser ranging sensor 4-6 is transmitted to the robot control system (i.e., the control system of the six-axis robot 3-3 itself), and the robot control system makes a corresponding judgment according to the collected data information, so as to realize the movement of the grabbing module 4 connected to the wrist of the robot.

In the invention, in particular, a master control system 5 is arranged at the right end of the top of the roller conveying platform truck 1.

It should be noted that the master control system 5 is a control center of the unstacking transportation system for the materials in the container, and can drive the roller conveying platform truck 1 to move and drive the seven-axis robot 3 provided with the grabbing module 4 to perform unstacking and other tasks, and can control the horizontal movement position of the roller conveying platform truck 1 through the first laser ranging sensor and the vision camera arranged on the roller conveying platform truck 1. In addition, the automatic positioning analysis system arranged on the roller conveying platform can be used for collecting, analyzing and processing preset relevant data and guiding the roller conveying platform car 1 and the seven-axis robot to work cooperatively.

It should be noted that, the data signals collected by the first laser ranging sensor and the second laser ranging sensor are transmitted to the PLC control system included in the master control system 5, and the PLC control system analyzes and processes the data to control the forward and backward movement of the roller conveying platform car 1, the lifting and lowering of the swing arm conveyor belt 2, and the movement of the gripping module 4.

The automatic positioning analysis system that includes on total control system 5 for gather roller conveying platform car 1, snatch the positional information of module 4 etc. relative to the container, then send PLC control system, carry out further analysis and processing to relevant data by PLC control system, and can control and remove roller conveying platform car 1 and seven robots to the preset position of breaking a jam in the container, can pass through control when breaking a jam, make roller conveying platform car, swing arm conveyor belt carries out the collaborative work with snatching the module, in order to guarantee the steady safe transport of workbin.

In particular, the master control system 5 comprises an electric control cabinet 5-2;

the electric control cabinet 5-2 is arranged at the right end of the top of the frame 1-1.

It should be noted that the electric control cabinet 5-2 is used for driving the seven-axis robot 3 provided with the grabbing module 4 to move and execute tasks such as unstacking.

In the present invention, referring to fig. 9a, a blower 5-2 is disposed on the robot base 3-2.

Note that the left end of the blower 5-1 is directed toward the container (i.e., cold chain container);

the right end of the air blower 5-1 faces the electric control cabinet, so that cold air in the cold chain container can be blown to the electric control cabinet to play a role in heat dissipation and cooling;

after inspection, the unstacking and transporting system for the materials in the container provided by the invention has high efficiency and reliability in work, and can finish unloading of a 40-inch high-cabinet container (less than or equal to 1500 boxes) within 2.5 hours.

The following describes a specific working process of the seven-axis robot 3 provided with the gripping module 4, including the following steps:

step 1, when the roller conveying platform car 1 stops beside a container, a vision camera in a grabbing module 4 collects the placement image information of a material box in the container and transmits the information to a control system of a six-axis robot 3-3;

step 2, the six-axis robot 3-3 adjusts the posture of the wrist part of the six-axis robot according to the information of the placement image of the material box, and a vacuum pump suction disc group 4-3 in the grabbing module 4 is attached to the outer surface of the material box;

step 3, the vacuum pump sucker group 4-3 is controlled to vacuumize the sucker through the control of the master control system 5 on the control system of the vacuum pump sucker group 4-3, so that the sucker can adsorb the bin, and the bin is grabbed;

and step 4, the seven-axis robot 3 which grabs the bin through the grabbing module 4 horizontally walks, and adjusts the postures of the axes of the six-axis robot, so that the bin is positioned above the swing arm conveyor belt 2, then the bin is placed at the top of the swing arm conveyor belt 2, and the suction cups of the vacuum pump suction cup groups 4-3 are inflated through control, so that the suction cups do not adsorb the bin any more, and the bin is released onto the swing arm conveyor belt 2.

In order to more clearly understand the technical solution of the present invention, the whole working process of the present invention is explained below.

Step 1, before a worker manually operates the roller conveying platform car 1 to reach a container to be grabbed to discharge a material box, according to the actual packing condition, inputting the size parameters of the material box and the size parameters of the container in a control system of the six-axis robot 3-3, photographing through a vision camera 4-5, and guiding the six-axis robot 3-3 to work.

And step 2, the swing arm belt conveyor 2 can position the rollers (namely the end rollers 2-11) to a proper material receiving height according to the feedback information of the master control system 5.

It should be noted that, on data signal transmission to the PLC control system that collects through first laser rangefinder sensor, by PLC control system through the analysis and the processing of data, control swing arm belt conveyor adjusts to suitable height, conveniently snatchs the workbin that the sucking disc released on the module, can be steady fall on the swing arm conveyer.

And 3, feeding the grabbing module 4 mounted on the seven-axis robot 3 to a position of a material box to be grabbed by the seven-axis robot, and grabbing the material box.

Step 4, the grabbing module 4 sucks the material box through a sucking disc in a vacuum pump sucking disc group 4-3, the seven-axis robot 3 drags the material box to the swing arm conveyor belt 2, then the inside of the sucking disc of the vacuum pump sucking disc group 4-3 is controlled to be inflated through a master control system, so that the sucking disc does not adsorb the material box any more, the material box is released to the swing arm conveyor belt 2, then the seven-axis robot 3 reaches the next grabbing position, meanwhile, the swing arm conveyor belt 2 conveys the material box to a conveying roller (namely, a roller conveying mechanism 1-3) of the roller conveying platform vehicle 1, and the conveying roller conveys the material box to an existing external unloading platform on the right side of the roller conveying platform vehicle 1;

for the material boxes stored in the container, the seven-axis robot 3 provided with the grabbing module 4 adopts a layered grabbing strategy (namely a first scheme), each layer of material box is grabbed for three times (different grabbing strategies are used according to different material box placing forms), the grabbing scheme of the last layer (namely the bottom layer) of material boxes preferentially adopts end rollers 2-11 to roll up and is matched with the roller conveying platform car 1 to move leftwards (namely to move towards the container direction), and thus the material boxes are collected to the swing arm conveying belt conveyor 2; if the first scheme cannot be completed, the seven-axis robot 3 provided with the grabbing module 4 can directly grab (or drag) the material box from the top of the material box by adopting the guidance of the vision camera arranged on the grabbing module, and grab the material box to the telescopic belt mechanisms 2-9 or the fixed belt conveying mechanisms 2-8 of the swing arm conveying belt machine 2.

Compared with the prior art, the unstacking and transporting system for the materials in the container has the following beneficial effects:

1. based on the technical scheme, the unstacking and transporting system for the materials in the containers is a system which is high in working efficiency, strong in applicability, reasonable in design and reliable in performance, and can be used for unstacking and transporting workbins in containers of various specifications.

2. Compared with the prior art, the unstacking and transporting system for the materials in the containers, provided by the invention, has the advantages that the visual seven-axis robot is introduced, the self-adaptability is strong, the required functions are realized in a limited space, the application is convenient, the debugging operation time can be greatly saved through the reasonable structural design, the production cost is effectively reduced, and the production efficiency is improved.

In conclusion, compared with the prior art, the unstacking and transporting system for the materials in the container, which is provided by the invention, has a scientific design, can efficiently and reliably unstack a plurality of material boxes for storing cold chain materials in the cold chain container and then convey the materials to the existing external unloading platform, obviously improves the unstacking and conveying efficiency of the material boxes, and has great practical significance.

After the unstacking and conveying system for the materials in the container is applied, workers do not need to perform manual unstacking and conveying operations, and the physical health of the workers is maintained.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A destacking and transporting system for materials in a container is characterized by comprising a roller conveying platform truck (1), a swing arm conveying belt conveyor (2), a seven-axis robot (3) and a grabbing module (4);

the left end of the roller conveying platform vehicle (1) is hinged with the right end of the swing arm conveying belt conveyor (2);

the left end of the top of the roller conveying platform car (1) is provided with a seven-axis robot (3);

the wrist part of the seven-axis robot (3) is provided with a grabbing module (4);

the seven-axis robot (3) is used for grabbing a material box in a container on the left side of the swing arm conveyor belt (2) through a grabbing module (4) arranged on the seven-axis robot, then rotationally moves to the position above the left end of the swing arm conveyor belt (2), and places the material box at the left end of the top of the swing arm conveyor belt (2);

the swing arm conveying belt conveyor (2) is used for conveying the material box rightwards after the material box is placed at the top of the swing arm conveying belt conveyor by the seven robots (3) until the material box is conveyed to a material discharging end on the left side of the top of the roller conveying platform vehicle (1);

the roller conveying platform vehicle (1) is used for conveying the material boxes conveyed by the swing arm conveying belt machine (2) from left to right and conveying the material boxes to an external unloading platform through a material box outlet (101) on the right side of the roller conveying platform vehicle;

and the external unloading platform is positioned right to the roller conveying platform vehicle (1) and connected with the right end part of the roller conveying platform vehicle (1).

2. The unstacking transport system for materials in containers as claimed in claim 1, characterized in that the roller conveying platform (1) comprises a carriage (1-1);

a roller conveying mechanism (1-3) is laid on the upper part of the frame (1-1);

and the top of the roller conveying mechanism (1-3) is used for receiving a material box placed by the seven-axis robot (3) and conveying the material box to the right to the top of the roller conveying platform car (1).

3. The unstacking transportation system for materials in containers as claimed in claim 2, characterized in that the lower part of the frame (1-1) is provided with a platform truck running gear (1-2);

the platform truck walking mechanism (1-2) specifically comprises a first driving speed reduction motor (1-2-1);

the first driving speed reducing motor (1-2-1) is arranged at the bottom of the frame (1-1);

the output shaft end of the first driving speed reducing motor (1-2-1) is provided with a driving chain wheel (1-2-2);

the front side and the rear side of the left end of the bottom of the frame (1-1) are respectively provided with a first bearing seat;

a driving shaft (1-2-3) which is longitudinally distributed is respectively arranged in the bearing inner ring of each first bearing seat;

the two driving shafts (1-2-3) are symmetrically distributed in the front and back direction;

each driving shaft (1-2-3) is provided with a driven chain wheel (1-2-4) and a front wheel (1-2-5);

the driving chain wheel (1-2-2) is in linkage connection with the driven chain wheel (1-2-4) through a first chain which is distributed annularly;

a second bearing seat is respectively arranged on the front side and the rear side of the right end of the bottom of the frame (1-1);

the two second bearing seats are symmetrically distributed in the front and the back;

the front end and the rear end of a driven shaft (1-2-6) which is longitudinally distributed are respectively connected with the bearing inner rings of two second bearing seats;

two rear wheels (1-2-7) are arranged at two ends of each driven shaft (1-2-6).

4. The unstacking transport system for materials in containers as claimed in claim 2, wherein the roller conveyor means (1-3) comprise a set of conveyor rollers (1-3-1);

the conveying roller set (1-3-1) is positioned in the middle of the upper part of the frame (1-1);

the conveying roller set (1-3-1) comprises three roller support frames (1-3-1-2) which are distributed at intervals in the longitudinal direction;

the three roller support frames (1-3-1-2) are fixedly arranged on the frame (1-1) and are respectively positioned at the front side, the rear side and the longitudinal middle position of the lower part of the frame (1-1);

a row of transverse rollers are pivoted between any two adjacent roller support frames (1-3-1-2);

each row of transverse rollers respectively comprises a plurality of cylindrical rollers (1-3-1-1) which are longitudinally distributed and transversely spaced;

the front end and the rear end of each roller (1-3-1-1) are respectively pivoted with the two adjacent roller support frames (1-3-1-2).

5. The unstacking transportation system for the materials in the containers as claimed in claim 4, characterized in that the outer end of each roller (1-3-1-1) is provided with a third chain wheel (1-3-1-1-1) and a fourth chain wheel (1-3-1-1-2);

the third chain wheel (1-3-1-1-1) is positioned at the front side of the fourth chain wheel (1-3-1-1-2) and is spaced from the fourth chain wheel;

the fourth chain wheels (1-3-1-1-2) on each pair of rollers (1-3-1-1) are respectively in linkage connection through a second chain (1-3-1-3) which is distributed annularly;

a second driving speed reducing motor (1-3-3) is respectively arranged at the front side and the rear side of the right end of the bottom of the frame (1-1);

the output shaft end of each second driving speed reducing motor (1-3-3) is respectively provided with a fifth chain wheel (1-3-3-1);

two adjacent third chain wheels (1-3-1-1-1) on two adjacent pairs of rollers (1-3-1-1) right above each fifth chain wheel (1-3-3-1) are in linkage connection with the fifth chain wheels (1-3-3-1) on the second driving speed reduction motors (1-3-3-3) located below through third chains (1-3-3-2) distributed annularly.

Two baffles (1-3-2) which are symmetrically distributed at the front and the back are arranged at intervals at the top of the conveying roller set (1-3-1);

the width of the longitudinal gap between the two baffles (1-3-2) is gradually reduced from left to right.

6. The unstacking transportation system of materials in containers as claimed in any one of claims 1 to 5, characterized in that the swing arm conveyor (2) comprises a belt frame (2-5) and two lifting motors (2-1);

the two lifting motors (2-1) are respectively arranged on the front side and the rear side of the left end of the top of the frame (1-1);

the output shaft end of each lifting motor (2-1) is respectively provided with a turntable (2-2);

the front side and the rear side of the left end part of the frame (1-1) are respectively provided with a rotating shaft (2-3) which is longitudinally distributed;

a belt conveyor bearing seat (2-4) is respectively arranged at the front side and the rear side of the right end part of the swing arm belt conveyor (2);

one end of each belt conveyor bearing seat (2-4) close to the frame (1-1) is provided with a bearing inner ring which is respectively connected with a rotating shaft (2-3);

one end of each belt conveyor bearing block (2-4) far away from the frame (1-1) is fixedly connected with the front side and the rear side of the right end of the belt frame (2-5);

the middle positions of the front side and the rear side of the belt rack (2-5) are respectively and fixedly provided with a lifting screw rod seat (2-6);

the upper part of each lifting screw rod seat (2-6) is respectively provided with a lifting screw rod (2-7);

each lifting screw (2-7) is respectively connected with the rotary table (2-2) on the same side through a steel wire rope;

a plurality of groups of fixed belt conveying mechanisms (2-8) are arranged in the upper area of the belt rack (2-5);

a pair of telescopic belt conveying mechanisms (2-9) are respectively arranged at the front side and the rear side of the upper part of the belt rack (2-5).

7. The unstacking transport system for materials in containers according to claim 6, characterized in that it comprises, for the telescopic belt conveyor (2-9), a telescopic belt frame (2-9-1);

a first linear guide rail (2-9-2) which is longitudinally distributed is respectively arranged below the left end and the right end of the telescopic belt rack (2-9-1);

the two first linear guide rails (2-9-2) are distributed in bilateral symmetry;

two first linear guide rails (2-9-2) are arranged at the top of the belt rack (2-5);

the sliding blocks on the two first linear guide rails (2-9-2) are connected with the bottom of the telescopic belt rack (2-9-1);

a telescopic electric cylinder (2-9-3) is arranged right below the telescopic belt rack (2-9-1);

the output end of the electric cylinder (2-9-3) is connected with the lower side of the middle part of the telescopic belt rack (2-9-1);

the cylinder body of the electric cylinder (2-9-3) is arranged at the top of the belt rack (2-5), and the installation position of the electric cylinder is closer to the outer side end of the belt rack (2-5) than the installation positions of the two first linear guide rails (2-9-2);

the left end and the right end of the telescopic belt rack (2-9-1) are respectively pivoted with a first driving roller (2-90) which is longitudinally distributed and a first unpowered roller (2-91) which is longitudinally distributed;

the first driving rollers (2-90) and the first unpowered rollers (2-9) are distributed at intervals left and right;

the first driving roller (2-90) and the first unpowered roller (2-91) are connected in a linkage manner through an annular belt.

8. The unstacking transportation system of materials in containers as claimed in claim 6, characterized in that the plurality of groups of fixed belt conveyors (2-8) comprise two groups of short fixed belt conveyors (2-8-1) and one group of long fixed belt conveyors (2-8-2);

for two groups of short fixed belt conveying mechanisms (2-8-1), the left end and the right end of a frame of each group of short fixed belt conveying mechanisms (2-8-1) are respectively pivoted with a second driving roller (2-80) and a second unpowered roller (2-81) which are longitudinally distributed;

the second driving rollers (2-80) and the second unpowered rollers (2-81) are distributed at intervals left and right;

the second driving roller (2-80) and the second unpowered roller (2-81) are in linkage connection through an annular belt;

for the long fixed belt conveying mechanism (2-8-2), the left end of a frame is pivoted with a second driving roller (2-80) and two third unpowered driving rollers (2-82), and the right end of the frame is pivoted with a second unpowered roller (2-81);

the long fixed leather conveying mechanism (2-8-2) comprises four narrow belts (2-83), the right sides of the two narrow belts (2-83) positioned on the outer side are sleeved on the second unpowered rollers (2-81) of the short fixed leather conveying mechanism (2-8-1), and the left sides of the two narrow belts (2-83) positioned on the outer side are sleeved on the third unpowered rollers (2-82);

the left sides of the two narrow belts (2-83) positioned in the middle part are sleeved on the second driving rollers (2-80), and the right sides of the two narrow belts are sleeved on the second unpowered rollers (2-81) of the short fixed belt conveying mechanism (2-8-1);

the second driving rollers (2-80) rotate clockwise.

9. The unstacking transport system for materials in containers according to claim 8, characterized in that the seven-axis robot (3) comprises two second linear guides (3-1) distributed transversely;

the upper parts of the front side and the rear side of the frame (1-1) are respectively provided with a second linear guide rail (3-1);

the sliding block top plates of the two second linear guide rails (3-1) are provided with a robot base (3-2) which is horizontally distributed;

a six-axis robot (3-3) is arranged at the top of the robot base (3-2);

the seven-axis walking driving motor (3-4) is arranged on the rear side of the top of the robot base (3-2);

a gear (3-5) is arranged on an output shaft at the lower part of the seven-shaft walking drive motor (3-4);

a rack (3-6) which is transversely distributed is arranged at the rear side of the frame (1-1);

the gear (3-5) is meshed and connected with the rack (3-6).

10. The unstacking transport system for materials in containers according to claim 9, characterized in that the gripping module (4) comprises an end base (4-1);

one end of the end socket base (4-1) is arranged on a wrist part of a six-axis robot (3-3) in the seven-axis robot (3), and the other end is provided with a sucker mounting rack (4-2);

visual camera bases (4-4) are arranged at intervals on the top of the sucker mounting rack (4-2);

a vacuum pump sucker group (4-3) is arranged on the left side of the sucker mounting rack (4-2);

the visual camera (4-5) is arranged on the visual camera base (4-4) through a hole;

and a second laser ranging sensor (4-6) is arranged on the rear side of the top of the sucker mounting frame (4-2).

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