CN116692523A - Full-automatic container loading machine and loading method thereof - Google Patents

Abstract

The invention relates to a fully automatic container loading machine and a loading method thereof, belonging to logistics loading equipment. The technical scheme adopted by the invention includes: a double-layer telescopic conveyor at the rear end of the container automatic loading machine, an elastic buffer conveyor in the middle and a stacking trolley at the front end. The double-layer telescopic conveyor includes the upper fixed conveyor and the lower telescopic conveyor. The frame of the upper conveyor is fixed on the conveyor frame, and the two sides of the frame of the lower conveyor are equipped with slide rail mechanisms. The road part is fixed on the conveyor frame, the lower conveyor can slide back and forth along the slide rail mechanism, and the lower conveyor slides forward to form an up and down staggered connection with the upper conveyor; the bottom of the chassis of the palletizing trolley is equipped with a moving wheel set, and the upper part is equipped with a lift Frame and lifting platform, the lifting platform is set on the lifting frame to realize up and down lifting, and the unloading mechanical arm and spring buffer conveyor are installed above the lifting platform.

Description

A fully automatic container loading machine and its loading method

technical field

The invention relates to a fully automatic container loading machine and a loading method thereof, belonging to logistics loading equipment.

Background technique

At present, for box-type trucks, because their structure is in a semi-closed state, they can only be moved to the interior of the compartment through a conveyor, and then placed manually, or placed with a robot; display.

Conveyors cooperate with manipulators, and the efficiency of manipulators is low. The current joint manipulators require space in height, and box-type trucks are not suitable. Manual final placement is not suitable for loading large quantities of goods.

It is suitable for forklifts to pick up pallets with low density. For some bagged goods, low density will lead to poor transportation efficiency.

Contents of the invention

The invention provides a fully automatic loading machine for containers, which solves the problem of high-efficiency automatic loading in a small space of a truck.

In order to achieve the above object, the technical scheme adopted in the present invention comprises:

The double-layer telescopic conveyor at the rear end of the container automatic loading machine, the elastic buffer conveyor in the middle and the palletizing trolley at the front end.

The double-layer telescopic conveyor includes an upper fixed conveyor and a lower telescopic conveyor. The frame of the upper conveyor is fixed on the conveyor frame, and the two sides of the frame of the lower conveyor are equipped with a slide rail mechanism. The road part is fixed on the conveyor frame, the lower conveyor can slide back and forth along the slide rail mechanism, and the lower conveyor slides forward to form an up and down staggered connection with the upper conveyor; the bottom of the chassis of the palletizing trolley is equipped with a moving wheel set, and the upper part is equipped with a lift Frame and lifting platform, the lifting platform is set on the lifting frame to realize up and down lifting, and the unloading mechanical arm and spring buffer conveyor are installed above the lifting platform;

The unloading robotic arm is set on the lifting platform of the palletizing trolley, including the parallel robotic arm and the steering unloading plate. The fixed platform of the parallel robotic arm is set on the lifting platform, and the steering unloading plate is set on the moving platform end of the parallel robotic arm. There are horizontally and vertically arranged unloading rollers on the steering unloading plate, and the unloading rollers are driven by unloading motors to rotate;

The front end of the elastic buffer conveyor is connected to the unloading plate, and the rear end is connected to the lower conveyor of the double-layer conveyor, including cross brackets on both sides and side-by-side conveyor rollers on the top. The roller shafts of the conveyor rollers are set on the top of the cross bracket. The lower cross brackets are connected front and back, and the distance between adjacent conveying rollers is extended when the cross brackets are lowered in height.

According to the fully automatic loading machine for containers, slideways are provided on both sides of the conveyor frame in the double-layer telescopic conveyor, and sliders are provided on both sides of the frame of the lower conveyor, and the sliders move in the slideways The lower conveyor realizes forward or successive expansion and contraction, and the lower conveyor is connected with the palletizing trolley, and when the palletizing trolley moves, it pulls the lower conveyor to expand and contract forward or backward.

According to the fully automatic loading machine for containers, the chassis of the palletizing trolley is provided with the lifting frame, the lifting frame is a cross lifting mechanism, including symmetrically arranged scissors and forks and lifting hydraulic cylinders for driving the scissors, the scissors and forks The top of the scissors and forks is connected to the lifting platform, and the bottom of the scissors and forks is a hydraulic cylinder for lifting and driving.

According to the container automatic loading machine described above, the unloading mechanical arm is a three-degree-of-freedom parallel robot, including three sets of electric push rods and a set of telescopic guide rods, two of the three sets of electric push rods are at the top, and one group is at the bottom , the front ends of the three groups of electric push rods are connected to the moving platform, and the rear ends are connected to the fixed platform through Hooke hinges, the fixed platform is fixed on the lifting platform, and the moving platform is provided with the steering unloading plate.

According to the fully automatic loading machine for containers, the moving platform is divided into a hinged frame and a fixed bottom plate, the hinged frame is hingedly connected to the fixed bottom plate, three sets of electric push rods are respectively hingedly connected to the top and bottom of the hinged frame, and the hinged frame An angle-adjusting hydraulic telescopic cylinder is arranged between the upper part and the fixed bottom plate, and the telescopic angle-adjusting hydraulic telescopic cylinder adjusts the angle between the hinged frame and the fixed bottom plate.

According to the fully automatic loading machine for containers, the fixed base plate is connected to the unloading plate through a rotating bearing, and the rotating bearing is provided with a rotating motor to drive the unloading plate to swing horizontally around the fixed base plate. There are horizontally and vertically arranged unloading rollers, and the horizontal unloading rollers and the longitudinal unloading rollers are respectively driven.

According to the fully automatic loading machine for containers, the top of the fixed bottom plate is provided with a conveying connecting plate, which is used for fixing the front end of the elastic buffer conveyor, the fixed platform is a rectangular frame, and the three-degree-of-freedom parallel robot The rear ends of the three sets of electric push rods are connected to the Hooke hinges in the rectangular frame, and the rear ends of the elastic buffer conveyor are fixed on the top of the fixed platform.

According to the fully automatic loading machine for containers, a connecting conveyor is provided between the top of the fixed platform and the lower conveyor of the telescopic conveyor, the front end of the connecting conveyor is hingedly connected to the fixed platform, and the rear end is hingedly connected to the telescopic conveyor The lower conveyor rack.

The loading method of the container automatic loading machine of the present invention comprises the following steps,

1) The stacking trolley moves to the loading position, and the lower conveyor of the telescopic conveyor stretches forward to the loading position driven by the stacking trolley;

2) The lifting frame of the palletizing trolley drives the three-degree-of-freedom parallel robot to lift to the palletizing height;

2) The material passes through the upper conveyor of the telescopic conveyor, falls to the lower conveyor, and then falls to the elastic buffer conveyor, which is transported to the unloading plate of the palletizing trolley;

3) The three-degree-of-freedom parallel robot on the stacking trolley drives the unloading plate to swing left or right to the stacking position, and the unloading plate rotates to the swing direction;

4) The unloading roller on the unloading plate rotates, driving the materials on the unloading plate to fall to the stacking position;

5) Repeat steps 1-4 to realize the automatic repetition of palletizing and loading.

The advantage of the present invention is that the device drives the parallel mechanical arm to be loaded by moving the stacking trolley, which is more efficient than the loading and stacking of the joint mechanical arm;

Through the telescopic conveyor, it can go deep into the interior of the truck compartment and convey it from high to low, which can reduce the equipment space required for cargo lifting; the parallel mechanical arm can swing left and right and lift, and the loading space requirement is small; the front-end unloading plate is arranged horizontally and vertically The rollers can be placed horizontally, and the angle of the goods can be adjusted, which is suitable for various loading requirements in the truck and meets the requirements of high-density loading.

Description of drawings

Fig. 1 is the loading figure one of the present invention,

Fig. 2 is the loading figure two of the present invention,

Fig. 3 is a structure diagram one of the palletizing trolley of the present invention,

Fig. 4 is the second structural diagram of the palletizing trolley of the present invention,

Fig. 5 is a structural diagram of the diverting stripper of the present invention,

Fig. 6 is a partial structural diagram of the diverting unloading plate of the present invention,

Reference signs:

1. Palletizing trolley, 11. Chassis, 12. Mobile wheel set, 13. Lifting frame, 14. Lifting platform, 15. Lifting drive hydraulic cylinder, 2. Unloading mechanical arm, 21. Moving platform end, 22. Fixed platform , 23. Parallel mechanical arm, 24. Steering unloading plate, 25. Telescopic guide rod, 26. Articulated frame, 27. Fixed bottom plate, 28. Hooke hinge, 29. Unloading roller, 3 Elastic buffer conveyor, 31 Cross Bracket, 32, conveying roller, 33, roller shaft, 34, height guide rod, 35, cross link, 4, double-layer telescopic conveyor, 41, upper conveyor, 42, lower conveyor, 43, slideway, 44 , Sliders, 45 conveyor racks, 5, connecting conveyors, 6 trucks, 7 fixed platforms, and 8 goods.

Detailed ways

The specific structure of the present invention is further described below:

The container automatic loading machine of the present invention comprises a front-end unloading mechanical arm, a stacking trolley, a spring buffer conveyor and a double-layer telescopic conveyor.

Each part of the present invention is described in detail below:

Wherein the double-layer telescopic conveyor 4 comprises a fixed upper conveyor 41 and a flexible lower conveyor 42, the frame of the upper conveyor 41 is fixed on the conveyor frame, and the frame both sides of the lower conveyor 42 are provided with slide rails Mechanism, the slideway part of the slide rail structure is fixed on the conveyor frame, the lower conveyor 42 can slide back and forth along the slide rail mechanism, and the lower floor slides forward to form an up and down staggered connection with the upper conveyor 41. The conveyor frame is set on a fixed platform, and the height of the fixed platform is consistent with the height of the compartment of the truck.

The bottom of the chassis 11 of the palletizing trolley 1 is provided with a moving wheel set 12, and a lifting frame 13 and a lifting platform 14 are arranged above, and the lifting platform 14 is arranged on the lifting frame 13 to realize up and down lifting, and the unloading mechanical arm 2 and the lifting platform 14 are installed above the lifting platform 14. Spring buffer conveyor. The moving wheel set can drive the palletizing trolley to move forward or backward to reach the loading and palletizing position. The palletizing trolley 1 moves between the fixed platform and the truck. Return to the fixed platform when there is no truck, and advance into the truck compartment when there is cargo.

The unloading mechanical arm 2 is arranged on the lifting platform 14 of the stacking trolley 1, and includes a parallel mechanical arm 23 and a steering unloading plate 24. On the moving platform end 21 of the parallel mechanical arm 23, the turning unloading plate 24 is provided with horizontally and vertically arranged unloading rollers, and the unloading rollers are provided with unloading motors to drive and rotate. The unloading mechanical arm 2 picks up the goods, and then unloads them after adjusting the angle to realize the process of stacking and placing.

The front end of the elastic buffer conveyor 3 is connected to the unloading plate, and the rear end is connected to the lower conveyor 42 of the double-layer conveyor, which includes cross brackets 31 on both sides and side-by-side conveyor rollers 32 on the top, and the top of the cross bracket 31 is provided with conveyor rollers 32. The roller shafts 33 and the cross brackets 31 at the bottom of each group of conveying rollers 32 are connected front and back, and the distance between adjacent conveying rollers 32 is extended when the cross brackets 31 are lowered in height.

Specifically, both sides of the conveyor frame in the double-layer telescopic conveyor 4 are provided with slideways, and both sides of the frame of the lower conveyor 42 are provided with sliders, and the sliders move the lower conveyor 42 in the slideways to realize the Front or successive expansion and contraction, the lower conveyor 42 is connected with the palletizing trolley 1, and the palletizing trolley 1 pulls the lower conveyor 42 to expand and contract forward or backward when the palletizing trolley 1 moves.

Further, the chassis 11 of the palletizing trolley 1 is provided with the lifting frame 13, the lifting frame 13 is a scissor fork lifting mechanism, including a symmetrically arranged scissor fork and a lifting drive hydraulic cylinder for driving the scissor fork, the top of the scissor fork is connected The lifting table 14, the bottom of the scissors and forks is a lifting drive hydraulic cylinder 15.

In the present invention, the unloading manipulator is a three-degree-of-freedom parallel robot, 3UPS-UPU means a Hooke hinge with two rotational degrees of freedom; P means a moving pair with one degree of freedom in movement; S means a spherical joint: it has three rotational degrees of freedom degrees of freedom structure. It has two degrees of freedom for rotation and one degree of freedom for movement around X and Y, and a degree of freedom for movement along the Z direction. The three-degree-of-freedom parallel robot is specifically set up as three sets of parallel mechanical arms 23 and one set of telescopic guide rods 25. Among the three sets of electric push rods, two sets are at the top and one set is at the bottom. The front ends of the three sets of electric push rods are connected to the end of the moving platform. The rear end is connected to the fixed platform 22 through the Hooke hinge 28, and the fixed platform 22 is fixed on the lifting platform 14, and the moving platform end is provided with the turning unloading plate 24. .

The end of the moving platform is divided into a hinged frame 26 and a fixed base plate 27, the hinged frame 26 is hingedly connected to the fixed base plate 27, three groups of electric push rods are respectively hingedly connected to the top and bottom of the hinged frame 26, and the upper part of the hinged frame 26 is connected to the fixed base plate 27. An angle-adjusting hydraulic telescopic cylinder is arranged between them, and the angle-adjusting hydraulic telescopic cylinder telescopically adjusts the angle between the hinged frame 26 and the fixed base plate 27.

The fixed bottom plate 27 is connected to the discharge plate through a rotary bearing, and the rotary bearing is provided with a rotating motor to drive the discharge plate to swing horizontally around the fixed bottom plate 27. The discharge plate is provided with horizontally and vertically arranged discharge rollers. Separate drive between the transverse discharge rollers and the longitudinal discharge rollers.

The top of the fixed bottom plate 27 is provided with a conveying connecting plate, which is used for fixing the front end of the elastic buffer conveyor 3, the fixed platform 22 is a rectangular frame, and the rear ends of three sets of electric push rods of the three-degree-of-freedom parallel robot are connected to the rectangular frame. Hooke hinge 28 in the frame, the rear end of elastic buffer conveyor 3 is fixed on the top of this fixed platform 22.

Between the top of the fixed platform 22 of the present invention and the lower conveyor 42 of the telescopic conveyor, a connecting conveyor 5 is provided. The front end of the connecting conveyor 5 is hingedly connected to the fixed platform 22, and the rear end is hingedly connected to the lower conveyor of the telescopic conveyor. 42 racks. The connecting conveyor 5 drives the lower conveyor at the rear to move forward with the movement of the stacking trolley. At the same time, the front end of the connecting conveyor 5 and the lifting platform are raised and lowered synchronously, so as to form a connection with the elastic buffer conveyor in front of the material conveying.

The work of the present invention is described in detail, the loading method of the container automatic loading machine of the present invention comprises the following steps,

1) The stacking trolley 1 moves to the loading position in the truck, and the lower conveyor 42 of the telescopic conveyor is driven forward by the stacking trolley 1 to the loading position;

2) The lifting frame 13 of the palletizing trolley 1 drives the three-degree-of-freedom parallel robot to lift to the palletizing height;

2) The material passes through the upper conveyor 41 of the telescopic conveyor, falls to the lower conveyor 42, and then falls to the elastic buffer conveyor 3, and the elastic buffer conveyor 3 is transported to the unloading plate of the palletizing trolley 1;

3) The three-degree-of-freedom parallel robot on the stacking trolley 1 drives the unloading plate to swing left or right to the stacking position, and the unloading plate rotates to the swing direction;

4) The unloading roller on the unloading plate rotates, driving the materials on the unloading plate to fall to the stacking position;

5) Repeat steps 1-4 to realize the automatic repetition of palletizing and loading.

This device drives the parallel manipulator to load the vehicle by moving the palletizing trolley, which is more efficient than the loading and palletizing of the joint manipulator; through the telescopic conveyor, it can penetrate into the interior of the truck compartment and transport from high to low, which can reduce the equipment space required for cargo lifting ;The parallel mechanical arm can swing left and right and lift, and the loading space is small; the front unloading plate is equipped with horizontal and vertical rollers and can be placed horizontally, and the angle of the goods can be adjusted, which is suitable for all kinds of goods in the truck. Loading requirements, to meet high-density loading requirements.

Claims (9)

1. A fully automatic loading machine for containers, characterized in that, comprising, The double-layer telescopic conveyor (4) comprises a fixed upper conveyor (41) and a telescopic lower conveyor (42), the frame of the upper conveyor (41) is fixed on the conveyor frame, and the lower conveyor (42 ) is provided with a slide rail mechanism on both sides of the frame, the slideway part of the slide rail structure is fixed on the conveyor frame, the lower conveyor (42) can slide back and forth along the slide rail mechanism, the lower layer slides forward and the upper conveyor ( 41) Form up and down staggered connection; The palletizing trolley (1), the bottom of the chassis (11) is provided with a moving wheel set (12), the upper part is provided with a lifting frame (13) and a lifting platform (14), and the lifting platform (14) is set on the lifting frame (13) to realize Up and down, the unloading mechanical arm (2) and spring buffer conveyor are installed above the lifting table (14); The unloading mechanical arm (2) is arranged on the lifting platform (14) of the stacking trolley (1), including the parallel mechanical arm (23) and the steering unloading plate (24), and the fixed platform of the parallel mechanical arm (23) ( 22) Set on the lifting platform (14), the steering unloading plate (24) is set on the moving platform end (21) of the parallel mechanical arm (23), and the turning unloading plate (24) is provided with horizontal and vertical unloading plates. The material roller and the unloading roller are equipped with a discharge motor to drive the rotation; The elastic buffer conveyor (3), the front end is connected to the unloading plate, and the rear end is connected to the lower conveyor (42) of the double-layer conveyor, including cross brackets (31) on both sides and side-by-side conveying rollers (32) on the top, cross brackets The top of (31) is provided with the roller shaft (33) of the conveying roller (32), and the cross brackets (31) at the lower part of each group of conveying rollers (32) are connected back and forth, and the cross brackets (31) are adjacent to the conveying rollers (32) when the height is lowered. Spacing extended. 2. The fully automatic container loading machine according to claim 1, characterized in that slideways are provided on both sides of the conveyor frame in the double-layer telescopic conveyor (4), and the lower conveyor (42) There are sliders on both sides of the frame, and the sliders move the lower conveyor (42) in the slideway to realize forward or sequential expansion and contraction. The lower conveyor (42) is connected with the palletizing trolley (1), and the palletizing trolley (1) Pull the lower conveyor (42) forward or backward when moving. 3. The container automatic loading machine according to claim 1, characterized in that, the chassis (11) of the palletizing trolley (1) is provided with the lifting frame (13), and the lifting frame (13) is The scissor-fork lifting mechanism includes a symmetrically arranged scissor-fork and a lifting drive hydraulic cylinder for driving the scissor-fork. The top of the scissor-fork is connected to the lifting platform (14), and the bottom of the scissor-fork is a lifting-driving hydraulic cylinder (15). 4. The fully automatic container loading machine according to claim 1, characterized in that, the unloading mechanical arm is a three-degree-of-freedom parallel robot, including three sets of parallel mechanical arms (23) and a set of telescopic guide rods (25) , two of the three sets of electric push rods are at the top, and one group is at the bottom. The front ends of the three sets of electric push rods are connected to the moving platform, and the rear ends are connected to the fixed platform (22) through the Hooke hinge (28), and the fixed platform (22) It is fixed on the lifting platform (14), and the moving platform is provided with the turning unloading plate (24). 5. The fully automatic loading machine for containers according to claim 4, characterized in that the moving platform is divided into an articulated frame (26) and a fixed bottom plate, the articulated frame (26) is hingedly connected to the fixed bottom plate, and three groups of electric pushers The rods are hingedly connected to the top and bottom of the hinged frame (26) respectively, and an angle-adjusting hydraulic telescopic cylinder is arranged between the upper part of the hinged frame (26) and the fixed bottom plate, and the angle-adjusting hydraulic telescopic cylinder telescopically connects the hinged frame (26) and the fixed bottom plate Adjust the angle between them. 6. The container automatic loading machine according to claim 5, characterized in that, the fixed bottom plate is connected to the described unloading plate through a rotating bearing, and the rotating bearing is provided with a rotating motor to drive the unloading plate to move around the fixed bottom plate. Swing horizontally, the unloading plate is provided with horizontally and vertically arranged unloading rollers, and the horizontal unloading rollers and the longitudinal unloading rollers are respectively driven. 7. The fully automatic container loading machine according to claim 5, characterized in that, the top of the fixed bottom plate is provided with a conveying connecting plate, and the conveying connecting plate is used for fixing the front end of the elastic buffer conveyor (3), and the The fixed platform (22) is a rectangular frame, the rear ends of the three sets of electric push rods of the three-degree-of-freedom parallel robot are connected to the Hooke hinge (28) in the rectangular frame, and the rear end of the elastic buffer conveyor (3) is fixed on the fixed platform (22) top. 8. The fully automatic container loading machine according to claim 7, characterized in that, a connecting conveyor (5) is provided between the top of the fixed platform (22) and the lower conveyor (42) of the telescopic conveyor, the The front end of the connecting conveyor (5) is hingedly connected to the fixed platform (22), and the rear end is hingedly connected to the frame of the lower conveyor (42) of the telescopic conveyor. 9. A loading method of the container full-automatic loading machine according to claim 1, characterized in that, comprising the steps of, 1) The palletizing trolley (1) moves to the loading position, and the lower conveyor (42) of the telescopic conveyor extends forward to the loading position driven by the palletizing trolley (1); 2) The lifting frame (13) of the palletizing trolley (1) drives the three-degree-of-freedom parallel robot to lift to the palletizing height; 2) The material passes through the upper conveyor (41) of the telescopic conveyor, falls to the lower conveyor (42), and then falls to the elastic buffer conveyor (3), and the elastic buffer conveyor (3) is transported to the palletizing trolley (1) on the unloading plate; 3) The three-degree-of-freedom parallel robot on the stacking trolley (1) drives the unloading plate to swing left or right to the stacking position, and the unloading plate rotates to the swing direction; 4) The unloading roller on the unloading plate rotates, driving the materials on the unloading plate to fall to the stacking position; 5) Repeat steps 1-4 to realize the automatic repetition of palletizing and loading.