CN115783789B - Automatic container palletizing robot for complex flow conveying and working method thereof - Google Patents
Automatic container palletizing robot for complex flow conveying and working method thereof Download PDFInfo
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Abstract
The invention relates to an automatic palletizing robot for a cargo box for complex flow conveying, which comprises a movable frame, wherein the bottom of the movable frame is provided with travelling wheels, the top of the movable frame is connected with a horizontal turntable, the top of the horizontal turntable is connected with a front sliding frame and a rear sliding frame, lifting conveying belts are hinged on the front sliding frame and the rear sliding frame, and the front ends of the lifting conveying belts are connected with loading and unloading actuators capable of being adjusted in a vertical and horizontal swinging mode. The invention has good adaptability to containers with different sizes; the invention directly drives the lifting conveyor belt and the loading and unloading actuator to carry out stacking; the stacking and unstacking range of the equipment mainly depends on the range of the length of the lifting conveyor belt plus the length of the tail end steering in the space; the sweeping range can be changed by changing the distance between the rotation angle and the front-back movement and the lifting distance; the palletizing range, which is different from the conventional palletizing apparatus, is limited by the size of the main body frame of the palletizing apparatus.
Description
Technical Field
The invention relates to an automatic palletizing robot for a cargo box conveyed by a complex flow and a working method thereof.
Background
At present, the material loading and unloading in the freight container generally uses manual loading and unloading; manpower vanning, intensity of labour is big, and loading efficiency is low, therefore proposes the automatic pile up neatly machine people of packing box that the cooperation commodity circulation was carried to solve above-mentioned problem.
Although there are many in-container automatic stacking devices on the market; however, the applicability of automatic stacking equipment in most containers is not strong, one stacking equipment is generally only suitable for containers with one size, and for containers with different sizes, the stacking equipment with different types is generally required to be replaced, so that the cost is greatly increased; and most palletizing apparatuses are only suitable for palletizing processes and cannot be used for destacking processes.
At present, most container stacking equipment has a plurality of stacking procedures and has low stacking efficiency; and excessive process steps easily affect the reliability of the equipment, and increase the manufacturing and maintenance costs of the equipment.
Disclosure of Invention
In view of the defects of the prior art, the technical problem to be solved by the invention is to provide an automatic palletizing robot for a cargo box for transporting complex flow and a working method thereof.
In order to solve the technical problems, the technical scheme of the invention is as follows: the utility model provides an automatic palletizing robot of packing box that complex flow was carried, includes that the bottom is equipped with the movable frame of walking wheel, the movable frame top is connected with horizontal revolving stage, horizontal revolving stage top is connected with front and back balladeur train, articulated on the balladeur train have the lift conveyer belt around, the lift conveyer belt front end is connected with the loading and unloading goods executor that can swing about from top to bottom and adjust.
Preferably, the travelling wheels at the bottom of the movable frame consist of universal wheels and power wheels; the horizontal turntable is arranged at the top of the movable frame through a rotary supporting bearing and is driven to rotate through a motor; a sliding block and sliding rail assembly is arranged between the front sliding frame and the rear sliding frame and the horizontal turntable, and the front sliding frame and the rear sliding frame are driven to translate and adjust front and back through a ball screw pair or a gear rack assembly; the rear end of the conveying belt frame body of the lifting conveying belt is hinged to the front sliding frame and the rear sliding frame, an electric push rod is connected between the conveying belt frame body and the front sliding frame and between the conveying belt frame body and the rear sliding frame, the top end of a piston rod of the electric push rod is hinged to the conveying belt frame body, and the bottom end of a cylinder body of the electric push rod is hinged to the front sliding frame and the rear sliding frame.
Preferably, the lifting conveyor belt is connected with the loading and unloading object actuator through a flexible conveyor belt.
Preferably, the flexible conveying belt comprises a rear end connecting plate and a front end connecting plate, the rear end connecting plate is hinged to the front end of a conveying belt frame body of the lifting conveying belt, the front end connecting plate is hinged to the rear end of a frame of the loading and unloading actuator, a plurality of middle connecting plates which are connected and distributed front and back are arranged between the rear end connecting plate and the front end connecting plate, a convex part is arranged on the front side of the middle connecting plate, a concave part is arranged on the rear side of the middle connecting plate, the convex part of the middle connecting plate at the rear is embedded into the concave part of the middle connecting plate at the front, the front part of the rear end connecting plate is also connected with the concave part at the rear of the adjacent middle connecting plate in an embedding manner through the concave part, long groove strips extending front and back are arranged on the upper and lower sides of the concave parts, connecting pins embedded into the long groove strips are arranged on the upper and lower sides of the concave parts, the height of the concave parts is larger than that of the convex parts, and the electric rotating rollers are arranged above the middle connecting plate.
Preferably, a connecting frame is arranged between the front end of the lifting conveying belt and the loading and unloading actuator, the connecting frame comprises a fixed frame and a movable frame, the fixed frame is fixedly connected to the front end of the conveying belt frame body of the lifting conveying belt, a side supporting plate fixedly arranged at the front end of the movable frame is fixedly connected with a frame of the loading and unloading actuator, a connecting rotating shaft is arranged at the front end of the fixed frame, the middle part of the connecting rotating shaft is a stepped plane, the rear end of the movable frame is provided with a connecting slot in which the stepped plane is inserted and embedded, the connecting slot is arranged on the stepped plane through a vertical rotating shaft perpendicular to the connecting rotating shaft, the vertical rotating shaft is driven to rotate by a motor to control the left and right swing of the movable frame, and the movable frame is connected with the bottom surface of the fixed frame through an electric push rod to control the up and down swing of the movable frame; the top surface of the movable frame is fixedly supported with an auxiliary supporting plate positioned below the flexible conveying belt.
Preferably, the loading and unloading actuator comprises a frame, wherein conveying belt mechanisms are symmetrically arranged on the left side and the right side of the frame, an actuator for pushing and pulling a container back and forth is arranged in the middle of the frame between the left conveying belt mechanism and the right conveying belt mechanism, the actuator is driven to translate back and forth by a first driving mechanism and drive to lift by a second driving mechanism, and the actuator is lower than the upper conveying belt surface of the conveying belt mechanism after being lowered; the front end face of the executing piece is fixedly connected with a plurality of vacuum chucks.
Preferably, a plurality of rotating shafts are uniformly distributed on the frame front and back, one of the rotating shafts is a driving rotating shaft driven by a motor, the other rotating shafts are driven rotating shafts, the conveying belt mechanisms comprise belt wheels arranged at the end parts of the rotating shafts at the outer side of the frame, and a plurality of belt wheels at the same side are wound with conveying belts; the left and right inner sides of the frame are respectively fixed with an inner side plate at the inner side of the belt wheel, and the left and right outer sides of the frame are respectively fixed with an outer side plate at the outer side of the belt wheel; the first driving mechanism comprises a moving plate positioned between two inner side plates, the bottom of the moving plate is connected with the frame through a ball screw pair and used for driving the moving plate to translate back and forth, and the moving plate is connected with the executing piece through a second driving mechanism.
Preferably, the second driving mechanism comprises parallelogram mechanisms symmetrically arranged on the left side and the right side of the moving plate, the parallelogram mechanisms are all positioned on the outer side of an inner side plate on the same side, straight-through grooves extending forwards and backwards are formed in the inner side plate, oblique through grooves inclining backwards and upwards are communicated with the rear ends of the straight-through grooves, two hinge pins below the parallelogram mechanisms penetrate through the straight-through grooves on the same side and are connected with the side parts of the moving plate, rear extension connecting rods are fixed on the side parts of the lower ends of rear connecting rods of the parallelogram mechanisms, guide pins used for being embedded into the oblique through grooves or moving on the straight-through grooves are arranged at the rear ends of the rear extension connecting rods, U-shaped executing pieces are arranged between the front ends of connecting rods above the parallelogram mechanisms, and sinking notches of the executing pieces are formed in the upper edges of the inner side plates; the outer side parts of the outer side plates are fixedly connected with flanges; a cover plate is covered between the tops of the left inner side plate and the right inner side plate, and the cover plate is arranged at the descending position of the executing piece.
Preferably, all be provided with the tensioning ware between the rear end side of medial plate and lateral plate, the tensioning ware all includes the swing arm, and the take-up pulley is all installed to the swing arm bottom, and the swing arm top all articulates between medial plate and lateral plate, and swing handle is all installed to the lateral part of swing arm, all has seted up the arc pendulum groove that swing handle worn out on the lateral plate, wherein set up the straight channel strip along the radial extension of arc pendulum groove on the lateral part of swing arm, and the swing handle extends about and passes straight channel strip and left and right directions's degree of freedom is prescribe a limit to, a plurality of card breach has been seted up to the centre of a circle of arc pendulum groove in the arc edge circumference of swing arm top pin joint and arc pendulum groove for swing handle card income.
The working method of the automatic container palletizing robot for transporting the complex flow comprises the following steps: the stacking process comprises the following steps: the horizontal turntable and the front and rear sliding frames drive the lifting conveying belt to horizontally steer and adjust back and forth, the box-type materials are conveyed to the lifting conveying belt by the flexible telescopic steering conveying belt, the horizontal turntable and the front and rear sliding frames provide one horizontal rotation degree of freedom and one horizontal translation degree of freedom, the lifting conveying belt provides one vertical rotation degree of freedom, the movable frame provides one horizontal rotation degree of freedom and one vertical rotation degree of freedom, the total equipment has five degrees of freedom, the loading and unloading executor can be moved to a target stacking position by controlling the rotation angle and the translation distance, the box-type materials on the lifting conveying belt are conveyed to the loading and unloading executor through the flexible conveying belt, the conveying belt mechanism drives the box-type materials to move forward past the executor to a pushing position, after the box-type materials move to the pushing position, all the conveying belts suspend operation, the executor ascends and moves forward to push out the box-type materials, and after pushing out the materials, the executor returns to the initial position and descends to the upper section conveying belt surface of the conveying belt, all the conveying belts continue to operate, and the next stacking is carried out; the equipment starts from the bottom of the container, stacks up one row by one row, after the innermost surface of the container is stacked, the movable frame retreats to the next surface, and continues to stack up one row by one row, and the same operation is repeatedly executed until the whole container is stacked; the unstacking flow is as follows: the loading and unloading actuator can be moved to a target unstacking position by controlling the rotation angle and the translation distance, all the conveying belts reversely run, the actuating member ascends and moves forward to a material position to be fetched, a vacuum chuck on the actuating member sucks the material to be fetched, then the actuating member returns to the initial position and descends below the upper section conveying belt surface of the conveying belt mechanism, and meanwhile, the actuating member drags the box material to the conveying belt mechanism and then is conveyed backwards by the conveying belt mechanism, so that one-time unloading is completed; the loading and unloading actuator starts from the outermost side of the container, the container is destacked downwards one by one, after the destacking of the outermost side of the container is completed, the movable frame moves to the next side to continue destacking, and the same operation is repeated until the destacking of the whole container is completed.
Compared with the prior art, the invention has the following beneficial effects:
1: the invention has good adaptability to containers with different sizes; the invention directly drives the lifting conveyor belt and the loading and unloading actuator to carry out stacking; the stacking and unstacking range of the equipment mainly depends on the range of the length of the lifting conveyor belt plus the length of the tail end steering in the space; the sweeping range can be changed by changing the distance between the rotation angle and the front-back movement and the lifting distance; the palletizing range, which is different from the conventional palletizing apparatus, is limited by the size of the main body frame of the palletizing apparatus.
2: The invention can increase the reliability of the equipment and reduce the maintenance cost; the invention directly drives the lifting conveyor belt and the loading and unloading actuator to carry out stacking; the material directly runs to the stacking position from the input end, and the material does not pass through other operating mechanisms; the stacking reliability is improved, the failure rate of equipment operation is reduced, and the maintenance cost is reduced.
3: Compared with the traditional stacking equipment, the invention has more functions; many existing container stacking devices generally only have stacking functions and need to be unstacked by using other unstacking devices; the device can be used for unstacking and stacking.
The invention will be described in further detail with reference to the drawings and the detailed description.
Drawings
Fig. 1 is a schematic view illustrating a usage state according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a construction of an embodiment of the present invention.
Fig. 3 is a schematic diagram of a second embodiment of the present invention.
Fig. 4 is a schematic view of a construction of a flexible conveyor belt.
Fig. 5 is a schematic diagram of a flexible conveyor belt construction.
Fig. 6 is a schematic view of the structure of the connecting frame.
Fig. 7 is a second schematic view of the structure of the connecting frame.
Fig. 8 shows a schematic diagram of the operation of the loading and unloading vehicle.
Fig. 9 is a schematic view showing the construction of the loading and unloading actuator.
Fig. 10 is an internal structural view of the loading and unloading actuator.
Fig. 11 shows an internal partial view of the loading and unloading vehicle.
Fig. 12 shows a schematic diagram of a tensioner configuration.
Fig. 13 shows a second tensioner configuration.
Fig. 14 shows a schematic diagram of the actuator structure.
Fig. 15 shows a second schematic structural diagram of the actuator.
Fig. 16 is a perspective view showing a pushing motion flow.
Fig. 17 is a front view of fig. 16.
Fig. 18 is a schematic structural view of another embodiment of the second driving mechanism.
Fig. 19 is a perspective view showing a pushing motion flow in the embodiment of fig. 18.
Fig. 20 is a front view of fig. 19.
Detailed Description
The invention will be further described with reference to the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
As shown in fig. 1-20, this embodiment provides an automatic palletizing robot for a cargo box of complex flow delivery, which comprises a movable frame 28 with travelling wheels at the bottom, wherein the top of the movable frame is connected with a horizontal turntable 29, the top of the horizontal turntable is connected with a front carriage and a rear carriage 30, the front carriage and the rear carriage are hinged with a lifting conveying belt 31, and the front end of the lifting conveying belt is connected with a loading and unloading actuator 32 capable of being adjusted in a vertical and horizontal swinging manner.
In the embodiment of the invention, the travelling wheels at the bottom of the movable frame consist of universal wheels 33 and power wheels 34; the horizontal turntable is arranged at the top of the movable frame through a rotary supporting bearing 35 and is driven to rotate through a motor; a sliding block and sliding rail assembly 36 is arranged between the front sliding frame and the rear sliding frame and the horizontal turntable, and the front sliding frame and the rear sliding frame are driven to translate and adjust front and back through a ball screw pair or a gear rack assembly 37; the rear end of the conveyer belt frame 38 of the lifting conveyer belt is hinged on the front and rear sliding frames, an electric push rod 39 is connected between the conveyer belt frame and the front and rear sliding frames, the top end of a piston rod of the electric push rod is hinged with the conveyer belt frame, and the bottom end of a cylinder body of the electric push rod is hinged with the front and rear sliding frames.
In the embodiment of the invention, the lifting conveyor belt is connected with the loading and unloading actuator through a flexible conveyor belt 40.
In the embodiment of the invention, the flexible conveying belt comprises a rear end connecting plate 41 and a front end connecting plate 42, wherein the rear end connecting plate is hinged at the front end of a conveying belt frame body of the lifting conveying belt, the front end connecting plate is hinged at the rear end of a frame of the loading and unloading actuator, a plurality of middle connecting plates 43 which are connected and distributed front and back are arranged between the rear end connecting plate and the front end connecting plate, wherein the front side of the middle connecting plate is provided with a convex part, the rear side of the middle connecting plate is provided with a concave part, the convex part of the rear middle connecting plate is embedded into the concave part of the front middle connecting plate, the front of the rear end connecting plate is also connected with the concave part behind the adjacent middle connecting plate in an embedding way through the convex part, the rear of the front end connecting plate is also connected with the convex part in front of the adjacent middle connecting plate in an embedding way through the concave part, long groove strips 44 extending front and back are respectively arranged above and below the concave part, connecting pins 45 embedded into the long groove strips are respectively arranged above and below the convex part, the height of the concave part is larger than the convex part, and an electric rotating roller 46 is arranged above the middle connecting plate.
In the embodiment of the invention, a connecting frame is arranged between the front end of the lifting conveyor belt and the loading and unloading actuator, the connecting frame comprises a fixed frame 47 and a movable frame 48, the fixed frame is fixedly connected with the front end of the conveyor belt frame of the lifting conveyor belt, a side supporting plate 49 fixedly arranged at the front end of the movable frame is fixedly connected with a frame of the loading and unloading actuator, a connecting rotating shaft 50 is arranged at the front end of the fixed frame, the middle part of the connecting rotating shaft is a step plane 51, the rear end of the movable frame is provided with a connecting slot 52 inserted in the step plane, the connecting slot is arranged on the step plane through a vertical rotating shaft vertical to the connecting rotating shaft, the vertical rotating shaft is driven to rotate through a motor 54 to control the left and right swinging of the movable frame, and the movable frame is connected with the bottom surface of the fixed frame through an electric push rod to control the up and down swinging of the movable frame; the top surface of the movable frame is fixedly supported with an auxiliary supporting plate 55 positioned below the flexible conveying belt.
The front end of the flexible conveying belt can horizontally and vertically rotate relative to the rear end to a certain extent, meanwhile, the flexible conveying belt can be contracted and elongated in units, when the flexible conveying belt horizontally turns, the distance between the middle connecting plates at the inner side of the turning radius is reduced, and the distance between the middle connecting plates at the outer side is increased to form a horizontal arc-shaped conveying belt; when the flexible conveying belt turns vertically, the connecting pin swings in the long groove strip; when the front end of the flexible conveying belt swings upwards relative to the vertical direction of the rear end, the connecting pins swing at opposite positions in the long groove strips, the distance between the upper sides of the adjacent middle connecting plates is reduced, and the distance between the lower sides is increased, so that the arc-shaped conveying belt in the vertical direction is formed; the circular arc type conveying belt has enough turning radius to ensure that materials can smoothly pass through.
In the embodiment of the invention, the loading and unloading actuator comprises a frame 1, wherein conveying belt mechanisms 2 are symmetrically arranged on the left side and the right side of the frame, an actuator 4 for pushing and pulling a container 3 back and forth is arranged in the middle of the frame between the left conveying belt mechanism and the right conveying belt mechanism, the actuator is driven to translate back and forth by a first driving mechanism and is driven to lift by a second driving mechanism, and the actuator is lower than the upper conveying belt surface of the conveying belt mechanism after being lowered; a plurality of vacuum chucks 18 are fixedly connected to the front end face of the executing piece.
In the embodiment of the invention, a plurality of rotating shafts 5 are uniformly distributed on the frame front and back, one of the rotating shafts is a driving rotating shaft driven to rotate by a motor, the other is a driven rotating shaft, the conveying belt mechanisms comprise belt wheels 6 arranged at the end parts of the rotating shafts at the outer side of the frame, and a plurality of belt wheels at the same side are wound with a conveying belt 7; the left and right inner sides of the frame are respectively fixed with an inner side plate 8 at the inner side of the belt wheel, and the left and right outer sides of the frame are respectively fixed with an outer side plate 9 at the outer side of the belt wheel; the first driving mechanism comprises a moving plate 10 positioned between two inner side plates, the bottom of the moving plate is connected with the frame through a ball screw pair 11 and used for driving the moving plate to translate back and forth, and the moving plate is connected with the executing piece through a second driving mechanism.
In the embodiment of the invention, the second driving mechanism comprises parallelogram mechanisms 12 symmetrically arranged on the left side and the right side of the moving plate, the parallelogram mechanisms are all positioned on the outer side of an inner side plate on the same side, through grooves 13 extending forwards and backwards are formed in the inner side plate, the rear ends of the through grooves are all communicated with oblique through grooves 14 inclining backwards and upwards, two hinge pins below the parallelogram mechanisms are all connected with the side part of the moving plate after passing through the through grooves on the same side, a rear extension connecting rod 15 is fixed on the side part of the lower end of a rear connecting rod of the parallelogram mechanism, a guide pin 16 used for being embedded into the oblique through grooves or moving on the through grooves is arranged at the rear end of the rear extension connecting rod, U-shaped executing pieces are arranged between the front ends of connecting rods above the parallelogram mechanisms, and sinking notches 17 of the executing pieces are formed in the upper edges of the inner side plate; the outer side parts of the outer side plates are fixedly connected with flanges 19; a cover plate 20 is covered between the tops of the left and right inner side plates, and the cover plate is arranged at the descending position of the executing piece.
In the embodiment of the invention, tensioners 21 are arranged between the rear end sides of the inner side plate and the outer side plate, each tensioner comprises a swing arm 22, tensioning wheels 23 are arranged at the bottom ends of the swing arms, the top ends of the swing arms are hinged between the inner side plate and the outer side plate, swing handles 24 are arranged at the side parts of the swing arms, arc-shaped swing grooves 25 penetrating out of the swing handles are arranged on the outer side plate, straight groove strips 26 extending along the radial direction of the arc-shaped swing grooves are arranged on the side parts of the swing arms, the swing handles extend leftwards and rightwards and penetrate through the straight groove strips, the freedom degrees of the left and right directions are limited, the circle centers of the arc-shaped swing grooves are positioned at the hinge points at the top ends of the swing arms, and a plurality of clamping gaps 27 are formed on the circumferences of the arc edges of the arc-shaped swing grooves for clamping the swing handles. And tensioning the conveyor belt by adjusting the contact position of the swing handle and the clamping notch.
The working method of the automatic container palletizing robot for transporting the complex flow comprises the following steps: the stacking process comprises the following steps: the horizontal turntable and the front and rear sliding frames drive the lifting conveying belt to horizontally steer and adjust back and forth, the box-type materials are conveyed to the lifting conveying belt by the flexible telescopic steering conveying belt 56, the horizontal turntable and the front and rear sliding frames provide a horizontal rotation degree of freedom and a horizontal translation degree of freedom, the lifting conveying belt provides a vertical rotation degree of freedom, the movable frame provides a horizontal rotation degree of freedom and a vertical rotation degree of freedom, five degrees of freedom are total, the loading and unloading executor can be moved to a target stacking position by controlling the rotation angle and the translation distance, the box-type materials on the lifting conveying belt are conveyed to the loading and unloading executor through the flexible conveying belt, the conveying belt mechanism drives the box-type materials to move forward to a pushing position after passing through the executor, after the box-type materials move to the pushing position, all the conveying belts pause operation, the movable plate moves forward, the guide pins of the rear extension connecting rod are driven to be unfolded through the parallelogram mechanism, the executor rises and pushes out the box-type materials forward, the execution piece returns to the initial position and descends to the upper section of the conveying belt mechanism after pushing out the materials, and all the conveying belts continue to move continuously once; the equipment starts from the bottom of the container, stacks up one row by one row, after the innermost surface of the container is stacked, the movable frame retreats to the next surface, and continues to stack up one row by one row, and the same operation is repeatedly executed until the whole container is stacked; the unstacking flow is as follows: the loading and unloading actuator can be moved to a target unstacking position by controlling the rotation angle and the translation distance, all the conveying belts reversely run, the actuating member ascends and moves forward to a material position to be fetched, a vacuum chuck on the actuating member sucks the material to be fetched, then the actuating member returns to the initial position and descends below the upper section conveying belt surface of the conveying belt mechanism, and meanwhile, the actuating member drags the box material to the conveying belt mechanism and then is conveyed backwards by the conveying belt mechanism, so that one-time unloading is completed; the loading and unloading actuator starts from the outermost side of the container, the container is destacked downwards one by one, after the destacking of the outermost side of the container is completed, the movable frame moves to the next side to continue destacking, and the same operation is repeated until the destacking of the whole container is completed.
In the embodiment of the invention, the flexible telescopic steering conveyor belt belongs to the prior art, and the existing market has no redundant description.
In another embodiment of the present invention, the second driving mechanism does not adopt a parallelogram mechanism, but includes a material taking side plate 57 symmetrically and fixedly connected at the left and right sides of the moving plate, the material taking side plate passes through the through slot, a vertical guide rod 58 and a lifting guide rail 59 which pass through the material taking side plate downwards are fixedly arranged on the end part of the U-shaped executing piece, wherein a guide pin is arranged at the bottom end of the lifting guide rail and is used for being embedded into a guide slot newly arranged below the through slot, the guide slot is composed of a rear chute 60 and a front straight slot 61, and the rear chute extends obliquely towards the rear lower side.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any person skilled in the art may make modifications or alterations to the disclosed technical content to the equivalent embodiments. However, any simple modification, equivalent variation and variation of the above embodiments according to the technical substance of the present invention still fall within the protection scope of the technical solution of the present invention.
Claims (4)
1. Automatic palletizing robot for cargo containers conveyed by complex flow is characterized in that: the lifting conveyor belt is hinged to the front sliding frame and the rear sliding frame, and the front end of the lifting conveyor belt is connected with a loading and unloading actuator capable of being adjusted in a vertical and horizontal swinging mode; the lifting conveyor belt is connected with the loading and unloading actuator through a flexible conveyor belt; The flexible conveying belt comprises a rear end connecting plate and a front end connecting plate, wherein the rear end connecting plate is hinged at the front end of a conveying belt frame body of the lifting conveying belt, the front end connecting plate is hinged at the rear end of a frame of the loading and unloading actuator, a plurality of middle connecting plates which are connected and distributed front and back are arranged between the rear end connecting plate and the front end connecting plate, the front side of the middle connecting plate is provided with a convex part, the rear side of the middle connecting plate is provided with a concave part, the convex part of the middle connecting plate at the rear is embedded into the concave part of the middle connecting plate at the front, the front part of the rear end connecting plate is also connected with the concave part at the rear of the adjacent middle connecting plate in an embedding way through the convex part, the rear part of the front end connecting plate is also connected with the convex part at the front of the adjacent middle connecting plate in an embedding way, long groove strips extending front and back are arranged above and below the concave part, the upper and lower sides of the convex part are respectively provided with a connecting pin embedded with a long groove, the height of the concave part is larger than that of the convex part, and the upper side of the middle connecting plate is respectively provided with an electric rotating roller; A connecting frame is arranged between the front end of the lifting conveying belt and the loading and unloading actuator, the connecting frame comprises a fixed frame and a movable frame, the fixed frame is fixedly connected to the front end of a conveying belt frame body of the lifting conveying belt, a side supporting plate fixedly arranged at the front end of the movable frame is fixedly connected with a frame of the loading and unloading actuator, a connecting rotating shaft is arranged at the front end of the fixed frame, the middle part of the connecting rotating shaft is a ladder plane, the rear end of the movable frame is provided with a connecting slot in which the ladder plane is inserted, the connecting slot is arranged on the ladder plane through a vertical rotating shaft perpendicular to the connecting rotating shaft, the vertical rotating shaft is driven to rotate by a motor to control the left and right swing of the movable frame, and the movable frame is connected with the bottom surface of the fixed frame through an electric push rod to control the up and down swing of the movable frame; An auxiliary supporting plate positioned below the flexible conveying belt is fixedly supported on the top surface of the movable frame; the loading and unloading actuator comprises a frame, conveying belt mechanisms are symmetrically arranged on the left side and the right side of the frame, an actuating piece for pushing and pulling a container back and forth is arranged in the middle of the frame between the left conveying belt mechanism and the right conveying belt mechanism, the actuating piece is driven to translate back and forth by a first driving mechanism and is driven to lift by a second driving mechanism, and the actuating piece is lower than the upper conveying belt surface of the conveying belt mechanism after being lowered; the front end surface of the executing piece is fixedly connected with a plurality of vacuum suckers; a plurality of rotating shafts are uniformly distributed on the frame front and back, one of the rotating shafts is a driving rotating shaft driven by a motor, the other rotating shafts are driven rotating shafts, the conveying belt mechanisms comprise belt wheels arranged at the end parts of the rotating shafts at the outer side of the frame, and a plurality of belt wheels at the same side are wound with conveying belts; The left and right inner sides of the frame are respectively fixed with an inner side plate at the inner side of the belt wheel, and the left and right outer sides of the frame are respectively fixed with an outer side plate at the outer side of the belt wheel; the first driving mechanism comprises a moving plate positioned between two inner side plates, the bottom of the moving plate is connected with the frame through a ball screw pair and used for driving the moving plate to translate back and forth, and the moving plate is connected with the executing piece through a second driving mechanism; The second driving mechanism comprises parallelogram mechanisms symmetrically arranged on the left side and the right side of the moving plate, the parallelogram mechanisms are all positioned on the outer side of an inner side plate on the same side, straight-through grooves extending forwards and backwards are all arranged on the inner side plate, the rear ends of the straight-through grooves are all communicated with oblique through grooves inclining backwards and upwards, two hinge pins below the parallelogram mechanisms are all connected with the side parts of the moving plate after penetrating through the straight-through grooves on the same side, the lower end side parts of rear connecting rods of the parallelogram mechanisms are all fixed with rear extension connecting rods, the rear ends of the rear extension connecting rods are provided with guide pins for being embedded into the oblique through grooves or moving on the straight-through grooves, U-shaped executing pieces are arranged between the front ends of connecting rods above the parallelogram mechanisms, The upper edges of the inner side plates are provided with sinking notches of the executing pieces; the outer side parts of the outer side plates are fixedly connected with flanges; a cover plate is covered between the tops of the left inner side plate and the right inner side plate, and the cover plate is arranged at the descending position of the executing piece.
2. The automated palletizing robot for a container for transporting a stream of complex as recited in claim 1, wherein: the travelling wheels at the bottom of the movable frame consist of universal wheels and power wheels; the horizontal turntable is arranged at the top of the movable frame through a rotary supporting bearing and is driven to rotate through a motor; a sliding block and sliding rail assembly is arranged between the front sliding frame and the rear sliding frame and the horizontal turntable, and the front sliding frame and the rear sliding frame are driven to translate and adjust front and back through a ball screw pair or a gear rack assembly; the rear end of the conveying belt frame body of the lifting conveying belt is hinged to the front sliding frame and the rear sliding frame, an electric push rod is connected between the conveying belt frame body and the front sliding frame and between the conveying belt frame body and the rear sliding frame, the top end of a piston rod of the electric push rod is hinged to the conveying belt frame body, and the bottom end of a cylinder body of the electric push rod is hinged to the front sliding frame and the rear sliding frame.
3. The automated palletizing robot for a container for transporting a stream of complex as recited in claim 1, wherein: the tensioner is arranged between the rear end sides of the inner side plate and the outer side plate, the tensioner comprises swing arms, tensioning wheels are arranged at the bottom ends of the swing arms, the top ends of the swing arms are hinged between the inner side plate and the outer side plate, swing handles are arranged on the side parts of the swing arms, arc-shaped swing grooves penetrated by the swing handles are formed in the outer side plate, straight groove strips extending along the radial direction of the arc-shaped swing grooves are formed in the side parts of the swing arms, the swing handles extend left and right to penetrate through the straight groove strips and are limited in the left and right directions, and a circle center of each arc-shaped swing groove is located a hinge point at the top end of each swing arm and a plurality of clamping gaps are formed in the circumference of the arc-shaped edge of each arc-shaped swing groove for clamping the swing handles.
4. A method of operating a container palletizing robot for transporting a stream of complex as claimed in any one of claims 1 to 3, comprising the steps of: the stacking process comprises the following steps: the horizontal turntable and the front and rear sliding frames drive the lifting conveying belt to horizontally steer and adjust back and forth, the box-type materials are conveyed to the lifting conveying belt by the flexible telescopic steering conveying belt, the horizontal turntable and the front and rear sliding frames provide one horizontal rotation degree of freedom and one horizontal translation degree of freedom, the lifting conveying belt provides one vertical rotation degree of freedom, the movable frame provides one horizontal rotation degree of freedom and one vertical rotation degree of freedom, the total equipment has five degrees of freedom, the loading and unloading executor can be moved to a target stacking position by controlling the rotation angle and the translation distance, the box-type materials on the lifting conveying belt are conveyed to the loading and unloading executor through the flexible conveying belt, the conveying belt mechanism drives the box-type materials to move forward past the executor to a pushing position, after the box-type materials move to the pushing position, all the conveying belts suspend operation, the executor ascends and moves forward to push out the box-type materials, and after pushing out the materials, the executor returns to the initial position and descends to the upper section conveying belt surface of the conveying belt, all the conveying belts continue to operate, and the next stacking is carried out; the equipment starts from the bottom of the container, stacks up one row by one row, after the innermost surface of the container is stacked, the movable frame retreats to the next surface, and continues to stack up one row by one row, and the same operation is repeatedly executed until the whole container is stacked; the unstacking flow is as follows: the loading and unloading actuator can be moved to a target unstacking position by controlling the rotation angle and the translation distance, all the conveying belts reversely run, the actuating member ascends and moves forward to a material position to be fetched, a vacuum chuck on the actuating member sucks the material to be fetched, then the actuating member returns to the initial position and descends below the upper section conveying belt surface of the conveying belt mechanism, and meanwhile, the actuating member drags the box material to the conveying belt mechanism and then is conveyed backwards by the conveying belt mechanism, so that one-time unloading is completed; the loading and unloading actuator starts from the outermost side of the container, the container is destacked downwards one by one, after the destacking of the outermost side of the container is completed, the movable frame moves to the next side to continue destacking, and the same operation is repeated until the destacking of the whole container is completed.
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| CN117360998A (en) * | 2023-10-26 | 2024-01-09 | 南京达鑫志科技有限公司 | Warehouse logistics distributing and stacking robot |
| CN117342145B (en) * | 2023-12-05 | 2024-04-05 | 辽宁数能科技发展有限公司 | Logistics transportation equipment of wisdom garden operation center |
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| CN213616682U (en) * | 2020-11-15 | 2021-07-06 | 浙江微通智能科技有限公司 | Full-automatic loading and unloading goods robot |
| CN113682824A (en) * | 2021-09-07 | 2021-11-23 | 山东滨州烟草有限公司 | Automatic unloading device for smoke box |
| CN218988146U (en) * | 2022-12-28 | 2023-05-09 | 福州大学 | Automatic palletizing robot for cargo box conveyed by complex flow |
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| WO2022047781A1 (en) * | 2020-09-07 | 2022-03-10 | 苗林展 | System and method for transporting, loading and unloading container |
| CN113291774B (en) * | 2021-06-30 | 2021-12-17 | 青岛科捷机器人有限公司 | Loading and unloading integrated machine and automatic loading and unloading system of container |
| CN216889091U (en) * | 2021-11-25 | 2022-07-05 | 太原市富利恒自动化科技有限公司 | Craft board stacking and unstacking equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN213616682U (en) * | 2020-11-15 | 2021-07-06 | 浙江微通智能科技有限公司 | Full-automatic loading and unloading goods robot |
| CN113682824A (en) * | 2021-09-07 | 2021-11-23 | 山东滨州烟草有限公司 | Automatic unloading device for smoke box |
| CN218988146U (en) * | 2022-12-28 | 2023-05-09 | 福州大学 | Automatic palletizing robot for cargo box conveyed by complex flow |
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