CN115744361A - Carloader based on 4UPU-UP mechanism - Google Patents
Carloader based on 4UPU-UP mechanism Download PDFInfo
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- CN115744361A CN115744361A CN202211645689.4A CN202211645689A CN115744361A CN 115744361 A CN115744361 A CN 115744361A CN 202211645689 A CN202211645689 A CN 202211645689A CN 115744361 A CN115744361 A CN 115744361A
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- 230000003287 optical effect Effects 0.000 claims description 3
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- 238000004806 packaging method and process Methods 0.000 description 2
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Abstract
The invention relates to a car loader based on a 4UPU-UP mechanism, belonging to a logistics car loading device. The invention relates to a car loader based on a 4UPU-UP mechanism, which comprises a fixed truss and a movable truss, wherein the movable truss moves along the fixed truss, the 4UPU-UP mechanism comprises four groups of UPU active branched chains, a movable platform, a fixed platform and UP restraint branched chains, the fixed platform is arranged on the movable truss, the upper ends of the four groups of UPU active branched chains are connected with four corners of the fixed platform, the movable platform is arranged at the bottom moving end of the UPU active branched chains, the movable platform is provided with a car loading box, the UP restraint branched chains are connected with the car loading box and the fixed platform, and the fixed platform is arranged at the top of the movable truss; the loading box is box-shaped, one side of the loading box is provided with an opening hole as a feeding side, the bottom of the loading box is provided with two hinged plates, the hinged plates are symmetrically arranged to block the lower side surface of the loading box, the hinged plates are hinged to two sides of the bottom of the loading box, and an opening cylinder is further arranged between each hinged plate and the loading box. The loading box and the movable platform of the device have three degrees of freedom under the drive of the driving branched chain and the restraint branched chain of the parallel structure, and respectively rotate around an X axis, rotate around a Y axis and move along a Z direction.
Description
Technical Field
The invention relates to a car loader based on a 4UPU-UP mechanism, belonging to a logistics car loading device.
Background
At present, the automatic unmanned loading equipment comprises a stacking manipulator, an AGV forklift or a movable conveyor to realize material carrying and stacking loading,
The transshipment speed of the stacking manipulator is precise in grabbing and unloading process operation, long in single use, not suitable for large-batch rapid loading, the AGV forklift can only carry out tray stacking loading, and the movable conveyor cannot only be adjusted in direction when loading rectangular objects, and needs manual adjustment.
The parallel mechanism is a mechanical structure which realizes height and direction adjustment under the driving of a moving chain through a moving platform, the speed of the parallel mechanism is adjusted flexibly in the angle direction, and compared with a mechanical arm, the parallel mechanism has stronger bearing capacity and higher movement precision when a rotating mechanism is arranged at a terminal. If in the goods uninstallation, combine parallel mechanism to realize the direction adjustment of goods, check and remove conveyer mechanism, will improve the uninstallation speed of bagged goods or case dress goods.
Disclosure of Invention
The invention provides a car loader based on a 4UPU-UP mechanism, which solves the problem that the direction adjustment and unloading impact force cannot be solved when a conveyer unloads cargoes.
In order to achieve the purpose, the invention adopts the technical scheme that:
the invention relates to a car loader based on a 4UPU-UP mechanism, which comprises a fixed truss and a movable truss, wherein the movable truss moves along the fixed truss,
the device also comprises a 4UPU-UP mechanism which comprises four groups of UPU active branched chains, a movable platform, a fixed platform and UP restraint branched chains, wherein the fixed platform is arranged on the movable truss, the upper ends of the four groups of UPU active branched chains are connected with four corners of the fixed platform, the movable platform is arranged at the bottom moving end of the UPU active branched chains, the movable platform is provided with a loading box, the UP restraint branched chains are connected with the loading box and the fixed platform, and the fixed platform is arranged at the top of the movable truss;
the loading box is box-shaped, one side of the loading box is provided with an opening hole as a feeding side, the bottom of the loading box is provided with two hinged plates, the hinged plates are symmetrically arranged to block the lower side surface of the loading box, the hinged plates are hinged to two sides of the bottom of the loading box, and an opening cylinder is further arranged between each hinged plate and the loading box.
According to the 4UPU-UP mechanism-based car loader, hooke joints are arranged at four corners of a movable platform, one end of the hooke joint is fixed on the movable platform, the other end of the movable platform is fixed at a moving end of a UPU driving branched chain, the middle of the movable platform is connected to the lower end of the UP restraint branched chain, and the upper end of the UP restraint branched chain is arranged on a fixed platform through the hooke joint.
According to the car loader based on the 4UPU-UP mechanism, the hooke hinge is an inner rotating part, a fixing frame and an outer rotating part, the inner rotating part is provided with an UPU driving branched chain which is inserted and fixed, the inner rotating part is arranged in the fixing frame and connected through a hinge shaft, the fixing frame is arranged in the outer rotating part and connected through a hinge shaft, and the inner hinge shaft and the outer hinge shaft form a certain angle.
According to the car loader based on the 4UPU-UP mechanism, the car loading box is provided with a cylinder fixing frame outside the position of the hinged plate, a cylinder body of the opening cylinder is hinged on the cylinder fixing frame, a piston rod of the opening cylinder is hinged to the bottom of the hinged plate, and two opening cylinders are correspondingly arranged on each hinged plate.
According to the car loader based on the 4UPU-UP mechanism, the movable platform is a rectangular frame, the top of the car loading box is fixed in the movable platform in a circle, four corners of the movable platform are provided with two fixed platform fixing plates which are parallel, and pin holes formed in the two fixed plate fixing plates are connected with the fixed frame through hinge shafts;
the fixed platform is a rectangular frame, the outer rotating parts are arranged at four corners in the fixed platform, the outer rotating parts are two parallel fixed platform fixing plates, and the pin holes formed in the two fixing plates are connected with the fixing frames through hinge shafts.
According to the car loader based on the 4UPU-UP mechanism, the fixed truss is further provided with a movable conveyor, the movable conveyor and the movable truss move synchronously, and the unloading end of the movable conveyor is in butt joint with the opening at the feeding side of the car loading box.
And according to the car loader based on the 4UPU-UP mechanism, the fixed platform is arranged on the movable truss through a transverse moving mechanism, and the transverse moving mechanism is vertical to the moving direction of the movable truss on the fixed truss.
According to the 4UPU-UP mechanism-based car loader, the UP constraint branched chain is an optical axis, the rotating part of the hooke joint corresponding to the top is a linear bearing, and the UP constraint branched chain can move and rotate in the linear bearing along the axial direction.
According to the car loader based on the 4UPU-UP mechanism, the top of the fixed truss is provided with the longitudinal rail, and the bottom of the movable conveyor and the bottom of the movable truss are provided with the guide driving wheels to move on the longitudinal rail.
According to the car loader based on the 4UPU-UP mechanism, the front end of the movable truss is also provided with a laser radar, and the laser radar is used for scanning the space in the freight car below.
The invention has the advantages that: the loading box and the movable platform of the device have three degrees of freedom under the drive of the driving branched chain and the restraint branched chain of the parallel structure, and respectively rotate around an X axis, rotate around a Y axis and move along a Z direction. The direction adjustment and the height adjustment of the loading box are realized, the direction unloading of the goods can be accurately realized by rotating around an X axis and rotating around a Y axis, the unloading height of the goods can be reduced by moving in the Z direction, and the goods package is prevented from being damaged.
The 4UPU parallel mechanism can increase the bearing capacity and the impact resistance of the parallel mechanism, so that the carriage loading mechanism is more stable when receiving the impact of the packaging bag.
Drawings
Figure 1 is the whole structure diagram of the car loading mechanism,
figure 2 is a side view of the present truck-loading mechanism,
figure 3 is a rear view of the present loading mechanism,
figure 4 is a parallel view of the present loading configuration,
FIG. 5 is an enlarged view of a parallel link structure in the loading structure,
figure 6 is a bottom view of the parallel arrangement in the present loading configuration,
reference numerals: 1. the device comprises a fixed truss, a movable truss, 3 and 4UPU-UP mechanisms, 4 and UPU active branched chains, 5 and a movable platform, 6 and a fixed platform, 7 and UP constraint branched chains, 8 and a loading box, 9 and a feeding side, 10 and a hinged plate, 11 and an opening cylinder, 12 and a Hooke hinge, 121 and the Hooke hinge are internal rotating parts, 122 and a fixed frame, 123 and an external rotating part, 124 and an internal hinge shaft, 125 and an external hinge shaft, 13 and a laser radar, 14 and goods, 15 and a truck and 16 and a movable conveyor.
Detailed Description
The following further describes the specific contents of the present invention:
the invention relates to a car loader based on a 4UPU-UP mechanism 3, which comprises a fixed truss 1 and a movable truss 2, wherein the movable truss 2 moves along the fixed truss 1.
The 4UPU-UP mechanism comprises four groups of UPU driving branched chains 4, a movable platform 5, a fixed platform 6 and UP restraint branched chains, wherein the fixed platform 6 is arranged on a movable truss 2, the upper ends of the four groups of UPU driving branched chains 4 are connected to four corners of the fixed platform 6, the movable platform 5 is arranged at a moving end at the bottom of the UPU driving branched chain 4, the movable platform 5 is provided with a loading box, the UP restraint branched chains are connected with the loading box and the fixed platform 6, and the fixed platform 6 is arranged at the top of the movable truss 2. Four groups of UPU driving branched chains 4 drive the motion of the movable platform, and UP restricts the motion range of the movable platform 5 by the branched chains.
The loading box is of a box-shaped structure, one side surface of the loading box is provided with an opening hole for bag entering, the opening hole is used as a feeding side, the bottom of the loading box is provided with two hinged plates, the hinged plates are symmetrically arranged to block the lower side surface of the loading box, the hinged plates are hinged to two sides of the bottom of the loading box, and an opening cylinder is further arranged between each hinged plate and the loading box. The hinged plate receives the bags, the bags turn over at required positions and fall down, and the purpose of placing and stacking the bags is achieved.
Specifically, according to the invention, hook joints are arranged at four corners of a movable platform 5, one end of each hook joint is fixed on the movable platform 5, the other end of the movable platform 5 is fixed on a moving end of a UPU driving branched chain 4, the middle of the movable platform 5 is connected to the lower end of a UP restraint branched chain, and the upper end of the UP restraint branched chain is arranged on a fixed platform 6 through the hook joints. The Hooke's hinge is internal rotation portion, mount and outer rotation portion, and internal rotation portion sets up and alternates fixed UPU initiative branched chain 4 or, and internal rotation portion sets up in the mount and links to each other through the internal hinge axle, and the mount setting is in the outer rotation portion and links to each other through the external hinge axle, and internal hinge axle and external hinge axle are certain angle.
Furthermore, a cylinder fixing frame is arranged on the outer side of the position of the hinged plate of the loading box, a cylinder body of the opening cylinder is hinged to the cylinder fixing frame, a piston rod of the opening cylinder is hinged to the bottom of the hinged plate, and two opening cylinders are correspondingly arranged on each hinged plate.
In the invention, the movable platform 5 is a rectangular frame, the top of the truck loading box is fixed in the movable platform 5 in a circle, two fixed platforms 6 which are parallel are arranged at four corners of the movable platform 5, and pin holes formed in the two fixed plates are connected with the fixed frames through hinge shafts. The fixed platform 6 is a rectangular frame, the outer rotating parts are arranged at four corners in the fixed platform 6, the outer rotating parts are two parallel fixed plates of the fixed platform 6, and the pin holes of the two fixed plates are connected with the fixed frames through hinge shafts. The UP restraint branched chain is an optical axis, an inner rotating part corresponding to the Hooke hinge at the top is a linear bearing, and the UP restraint branched chain can move and rotate in the linear bearing along the axial direction.
The fixed truss 1 is also provided with a movable conveyor, the movable conveyor and the movable truss 2 move synchronously, and the unloading end of the movable conveyor is butted with the opening at the feeding side of the loading box. The fixed platform 6 is arranged on the movable truss 2 through a transverse moving mechanism, and the transverse moving mechanism is perpendicular to the moving direction of the movable truss 2 on the fixed truss 1.
The top of the fixed truss 1 is provided with a longitudinal rail, and the bottom of the movable conveyor and the bottom of the movable truss 2 are provided with guide driving wheels to move on the longitudinal rail. The front end of the movable truss 2 is also provided with a laser radar which is used for scanning the space in the truck below.
The working process of the invention is as follows:
1) The parallel mechanism drives the movable platform and the hinged plate to rise to the highest position;
2) The truck is driven into the internal area of the truss to be fixed;
3) The movable truss drives the laser radar to move on the fixed truss, and scanning and measuring of the position of the truck and the space inside the truck are completed;
4) Analyzing data scanned by the laser radar through an upper computer to formulate a loading scheme;
5) The conveyor runs to move the packages to the hinged plate of the loading box;
6) The parallel mechanism drives the movable platform to move the bagged materials to the upper part of the vehicle to be loaded, and the pneumatic opening and closing door is opened to load the bags into the carriage;
7) The parallel mechanism drives the movable platform and the air-operated door opening and closing device to return to the initial position to prepare for receiving the next pocket
8) Working circularly according to the steps 5-7 until the carriage is full
The invention has the advantages that: the truck loading box and the movable platform of the device have three degrees of freedom under the drive of the driving branched chain and the constraint branched chain of the parallel structure, and respectively rotate around an X axis, rotate around a Y axis and move along a Z direction. The direction adjustment and the height adjustment of the loading box are realized, the direction unloading of the goods can be accurately realized by rotating around an X axis and rotating around a Y axis, the unloading height of the goods can be reduced by moving in the Z direction, and the goods package is prevented from being damaged.
The 4UPU parallel mechanism can increase the bearing capacity and the impact resistance of the parallel mechanism, so that the carriage loading mechanism is more stable when receiving the impact of the packaging bag.
Claims (10)
1. A car loader based on a 4UPU-UP mechanism comprises a fixed truss (1) and a movable truss (2), wherein the movable truss (2) moves along the fixed truss (1),
the device is characterized by further comprising a 4UPU-UP mechanism (3) which comprises four groups of UPU driving branched chains (4), a movable platform (5), a fixed platform (6) and UP restraint branched chains, wherein the fixed platform (6) is arranged on the movable truss (2), the upper ends of the four groups of UPU driving branched chains (4) are connected to four corners of the fixed platform (6), the movable platform (5) is arranged at a bottom moving end of the UPU driving branched chains (4), the movable platform (5) is provided with a loading box, the UP restraint branched chains are connected with the loading box and the fixed platform (6), and the fixed platform (6) is arranged at the top of the movable truss (2);
the loading box is box-shaped, one side of the loading box is provided with an opening hole as a feeding side, the bottom of the loading box is provided with two hinged plates, the hinged plates are symmetrically arranged to block the lower side surface of the loading box, the hinged plates are hinged to two sides of the bottom of the loading box, and an opening cylinder is further arranged between each hinged plate and the loading box.
2. The car loader based on the 4UPU-UP mechanism as claimed in claim 1, wherein Hooke's joints are arranged at four corners of the movable platform (5), one end of the Hooke's joint is fixed on the movable platform (5), the other end of the movable platform (5) is fixed on the moving end of the UPU driving branched chain (4), the middle of the movable platform (5) is connected to the lower end of the UP restricting branched chain, and the upper end of the UP restricting branched chain is arranged on the fixed platform (6) through the Hooke's joint.
3. The car loader based on 4UPU-UP mechanism as claimed in claim 2, wherein the Hooke's hinge is an inner rotation part, a fixed mount and an outer rotation part, the inner rotation part is provided with the active UPU branch chain (4) inserted and fixed or the inner rotation part is arranged in the fixed mount and connected through an inner hinge shaft, the fixed mount is arranged in the outer rotation part and connected through an outer hinge shaft, and the inner hinge shaft and the outer hinge shaft are at a certain angle.
4. The car loader based on the 4UPU-UP mechanism as claimed in claim 1, wherein the car loading box is provided with a cylinder holder outside the hinge plate position, the cylinder body of the opening cylinder is hinged to the cylinder holder, the piston rod of the opening cylinder is hinged to the bottom of the hinge plate, and two opening cylinders are correspondingly arranged on each hinge plate.
5. The car loader based on the 4UPU-UP mechanism as claimed in claim 3, wherein the movable platform (5) is a rectangular frame, the top of the car loading box is fixed in the movable platform (5) for a circle, two parallel fixed platform (6) fixed plates are arranged at four corners of the movable platform (5), and the two fixed plates are provided with pin holes and connected with the fixed frames through hinge shafts;
the fixed platform (6) is a rectangular frame, the outer rotating parts are arranged at four corners in the fixed platform (6), the outer rotating parts are two parallel fixed plates of the fixed platform (6), and pin holes of the two fixed plates are connected with the fixed frame through hinge shafts.
6. The truck loader based on the 4UPU-UP mechanism according to claim 3, characterized in that the fixed truss (1) is further provided with a moving conveyor, the moving conveyor moves synchronously with the moving truss (2), and the unloading end of the moving conveyor is butted with the opening at the feeding side of the loading box.
7. The car loader based on the 4UPU-UP mechanism according to claim 1, wherein the fixed platform (6) is arranged on the movable truss (2) by a lateral moving mechanism which is perpendicular to the moving direction of the movable truss (2) on the fixed truss (1).
8. The 4UPU-UP mechanism based car loader of claim 7, wherein the UP restraint branched chain is an optical axis, the inner rotating part of the Hooke joint corresponding to the top part is a linear bearing, and the UP restraint branched chain can move and rotate along the axial direction in the linear bearing.
9. The truck loader based on 4UPU-UP mechanism according to claim 6, characterized in that the top of the fixed truss (1) is provided with a longitudinal rail, and the bottom of the moving conveyor and the bottom of the moving truss (2) are provided with guide driving wheels to move on the longitudinal rail.
10. The carloader based on 4UPU-UP mechanism according to claim 1, characterized in that the front end of the movable truss (2) is also provided with a laser radar, the space in the truck below the fixed truss is scanned by the laser radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211645689.4A CN115744361A (en) | 2022-12-21 | 2022-12-21 | Carloader based on 4UPU-UP mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211645689.4A CN115744361A (en) | 2022-12-21 | 2022-12-21 | Carloader based on 4UPU-UP mechanism |
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| Publication Number | Publication Date |
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| CN115744361A true CN115744361A (en) | 2023-03-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211645689.4A Pending CN115744361A (en) | 2022-12-21 | 2022-12-21 | Carloader based on 4UPU-UP mechanism |
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Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490177A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Four-freedom-degree parallel-connection robot |
| CN111043963A (en) * | 2019-12-31 | 2020-04-21 | 芜湖哈特机器人产业技术研究院有限公司 | Three-dimensional scanning system measuring method of carriage container based on two-dimensional laser radar |
| CN111192328A (en) * | 2019-12-31 | 2020-05-22 | 芜湖哈特机器人产业技术研究院有限公司 | Two-dimensional laser radar-based point cloud processing method for three-dimensional scanning system of compartment container |
| CN111232684A (en) * | 2020-04-09 | 2020-06-05 | 宜宾钢猫科技有限公司 | Bagged cement car loader and car loading method |
| CN111392449A (en) * | 2020-03-27 | 2020-07-10 | 昆山同日机器人智能科技有限公司 | Intelligent loading control method and system and loading robot |
| CN211594312U (en) * | 2019-12-11 | 2020-09-29 | 广州市意诺仕智能设备有限公司 | Bag falling device for bagged material loading device |
| CN112123323A (en) * | 2020-10-19 | 2020-12-25 | 东南大学 | 4UPU-UP redundant drive parallel robot |
| CN216548648U (en) * | 2021-10-22 | 2022-05-17 | 枣庄市三维技术有限公司 | Automatic loading device for truck |
| WO2022122048A1 (en) * | 2020-12-07 | 2022-06-16 | 中国民航大学 | Split-type five-degrees-of-freedom parallel mechanism |
| CN217807567U (en) * | 2022-08-12 | 2022-11-15 | 晋城市路创沥青应用有限公司 | Discharge apparatus is used in pitch production and processing |
-
2022
- 2022-12-21 CN CN202211645689.4A patent/CN115744361A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490177A (en) * | 2011-12-13 | 2012-06-13 | 天津大学 | Four-freedom-degree parallel-connection robot |
| CN211594312U (en) * | 2019-12-11 | 2020-09-29 | 广州市意诺仕智能设备有限公司 | Bag falling device for bagged material loading device |
| CN111043963A (en) * | 2019-12-31 | 2020-04-21 | 芜湖哈特机器人产业技术研究院有限公司 | Three-dimensional scanning system measuring method of carriage container based on two-dimensional laser radar |
| CN111192328A (en) * | 2019-12-31 | 2020-05-22 | 芜湖哈特机器人产业技术研究院有限公司 | Two-dimensional laser radar-based point cloud processing method for three-dimensional scanning system of compartment container |
| CN111392449A (en) * | 2020-03-27 | 2020-07-10 | 昆山同日机器人智能科技有限公司 | Intelligent loading control method and system and loading robot |
| CN111232684A (en) * | 2020-04-09 | 2020-06-05 | 宜宾钢猫科技有限公司 | Bagged cement car loader and car loading method |
| CN112123323A (en) * | 2020-10-19 | 2020-12-25 | 东南大学 | 4UPU-UP redundant drive parallel robot |
| WO2022122048A1 (en) * | 2020-12-07 | 2022-06-16 | 中国民航大学 | Split-type five-degrees-of-freedom parallel mechanism |
| CN216548648U (en) * | 2021-10-22 | 2022-05-17 | 枣庄市三维技术有限公司 | Automatic loading device for truck |
| CN217807567U (en) * | 2022-08-12 | 2022-11-15 | 晋城市路创沥青应用有限公司 | Discharge apparatus is used in pitch production and processing |
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