CN204265030U - A kind of entrucking robot - Google Patents

A kind of entrucking robot Download PDF

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Publication number
CN204265030U
CN204265030U CN201420297393.2U CN201420297393U CN204265030U CN 204265030 U CN204265030 U CN 204265030U CN 201420297393 U CN201420297393 U CN 201420297393U CN 204265030 U CN204265030 U CN 204265030U
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CN
China
Prior art keywords
mechanical gripper
frame
entrucking
main
transfer
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Expired - Fee Related
Application number
CN201420297393.2U
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Chinese (zh)
Inventor
张永波
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Qingdao De Hefeng Scientific & Trading Co Ltd
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Qingdao De Hefeng Scientific & Trading Co Ltd
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Priority to CN201420297393.2U priority Critical patent/CN204265030U/en
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Publication of CN204265030U publication Critical patent/CN204265030U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses a kind of entrucking robot, it is characterized in that, comprise a main body frame, in order to fixing each mechanism and other parts; One material loading platform; One mechanical gripper; One conveyer belt mechanism, for being delivered to described mechanical gripper by goods from material loading platform; One reciprocating mechanism, moves up and down in order to driving mechanical handgrip; One movable guide rail, is arranged on the ground of lower end, main body frame both sides; One power pack, the movable motor comprising the rotation servomotor controlling mechanical gripper and carry out rotating, the cylinder controlling mechanical gripper folding and drive main body frame movable; One induction controller, comprises cargo location inductor, blanking inductor and vehicle location inductor, is arranged on the diverse location of main body frame respectively, runs in order to control mechanical gripper.Entrucking robot described in the utility model realizes the unmanned of entrucking thus has saved manpower, and entrucking efficiency improves greatly, and entrucking specification is neat.

Description

A kind of entrucking robot
Technical field
The utility model relates to cargo handing technical field, particularly relates to a kind of entrucking robot.
Background technology
The circulation of current solid material is divided into two kinds of forms: in bulk and packed.This form in bulk is extensive at developed country's Application comparison, and it is mainly used in the reasonable solid material of circulation, can save the manpower expense of a large amount of Packing Fees and handling, save time, laborsaving, economical.Shortcoming is that limitation is comparatively strong, must be applicable to the material that circulation is stronger, as: wheat, corn etc.It is higher to the also requirement of overland transport simultaneously, must be van or Container Transport, must have the equipment of handling bulk freight.
Packed this Method compare is flexible, and handling transport is more convenient.Shortcoming is the manpower expense that will consume a large amount of Packing Fees and handling.Abroad due to labour cost costly, so the bag cargo overwhelming majority adopts pallet carried and transported, material palletizing mechanical piling on pallet, then with handling equipment handling such as fork trucks.The disadvantage of tray loading transport is when production marketing, together counts cost of product, cost of product is increased together with pallet.Only adopt more in the developed country that higher or thick, the stupid flexibe work(labour) power of human cost is in great shortage, the application of China's tray loading transport is less.
Along with the fast development of China's economy and the raising of people's living standard, also progressively there is the phenomenon of labor shortage in China in recent years, and particularly slightly, stupid flexibe work(labour) power is short especially.Originally that manual loading of depending merely on situation will progressively replace by loading-unload machine, China's loading and unloading operation develops into now, and adopting maximum is product piling on pallet, product is laid down from pallet, entrucking during production marketing again.Although this mode still consumes a large amount of manpowers, compare traditional total man's fixture vehicle, save time, much laborsaving, also save many expenses than developed country together with the situation that pallet is together sold.So in current enterprise with good conditionsi of China, progressively adopt in this way namely: product is piling on pallet, fork truck is stacked in warehouse, and product lays down entrucking from pallet.
In bag cargo entrucking field, the mode that what most domestic was taked is by conveyer: manually product is unloaded from pallet or lorry, putting into conveyer is transported to above compartment, and workman, again at the other end of conveyer, carries the product of coming to put in compartment conveyer.
Current domestic conveyer has: Mobile conveyer, accordion conveyor, van conveyer etc.But no matter any conveyer just facilitates moved by hand, all can not complete automatic loading, all needs the artificial other end splicing at conveyer, puts.The carloader that a kind of cost is high is there is at cement industry, but it is in fact also a kind of portable conveyer, just conveyer is hung in above car, conveyer is facilitated to move forward and backward up and down, than general conveyer in entrucking further, but same needs manually operate, put, the automation of entrucking can not be completed, the artificial entrucking by load transfer device simultaneously, when putting owing to can not accurately put in place, so easily cause the phenomenon superposed mutually between bag cargo bag with bag, cause certain difficulty to unloading.
Summary of the invention
The purpose of this utility model is to provide and is to propose a kind of entrucking robot, and achieve unmanned, the full automaticity of entrucking, thus saved manpower, entrucking efficiency improves greatly, and entrucking more specification, neat, is easier to later unloading.
For realizing above-mentioned utility model object, the utility model have employed following technical scheme:
A kind of entrucking robot, is characterized in that, comprise
One main body frame, in order to fixing each mechanism and other parts;
One material loading platform, for carrying the goods needing entrucking;
One mechanical gripper, carries out entrucking in order to capture goods;
One conveyer belt mechanism, two ends connect described material loading platform and mechanical gripper respectively, for goods is delivered to described mechanical gripper from material loading platform;
One reciprocating mechanism, moves up and down in order to driving mechanical handgrip;
One movable guide rail, is arranged on the ground of lower end, main body frame both sides;
One power pack, the movable motor comprising the servomotor controlling mechanical gripper and carry out rotating, the cylinder controlling mechanical gripper folding and drive main body frame movable;
One induction controller, comprise cargo location inductor, blanking inductor and vehicle location inductor, travel switch, proximity switch, photoelectric switch and electromagnetic valve induction controller, be arranged on the diverse location of main body frame respectively, run in order to control mechanical gripper.
Proximity switch and travel switch are arranged on and move up and down guide rail side, and effect is that induction controls mechanical gripper back to zero.
First photoelectric switch is arranged on mechanical gripper and rotates finger place, and effect senses that goods arrives correct assigned address.
Second photoelectric switch is arranged in the middle part of main body frame, and effect senses that storing cycle arrives correct position.
One of preferably, described reciprocating mechanism comprises steel rope, roller, moves up and down motor and move up and down guide rail, wherein, described steel rope is arranged at main body frame upper end, two ends are connected to roller and described mechanical gripper and conveyer belt mechanism, describedly move up and down motor and roller is arranged on main body frame side, described in move up and down motor and rotate for driving rolls, described in move up and down guide rail and be connected to mechanical gripper and conveyer belt mechanism by slide block.
One of preferably, described conveyer belt mechanism comprises plane load-transfer device and slope load-transfer device, the direction of described plane load-transfer device is vertical with the direction of described movable guide rail, described plane load-transfer device one end is parallel is connected to described mechanical gripper, the other end is vertically connected at slope load-transfer device, and the other end of described slope load-transfer device is connected to material loading platform; The wheel flutter allowing material change service direction is also provided with in the junction of plane load-transfer device and slope load-transfer device.
One of preferably, bottom described material loading platform, corner is also equipped with four in order to drive the material loading platform moving wheel of material loading platform movement.
One of preferably, also comprise the handgrip finger driven wheel being arranged on described mechanical gripper lower end, described handgrip finger driven wheel drives the finger of described mechanical gripper to carry out rotation by described driven by servomotor to make goods to enter handgrip.
One of preferably, bottom described main body frame, moving wheel is housed, described moving wheel is positioned in described movable guide rail and drives main body frame to move forward and backward along movable guide rail.
One of preferably, described main body frame is gauntry crane rack and panel construction.
Have employed the technical solution of the utility model, entrucking robot can realize the feeding speed of more than 1500 bags per hour, replaces current manual operation completely.By current artificial car loading capacity, when by conveying machinery, everyone per tour 8 hourly average maximum entrucking 2400 bag calculate (entrucking workman due to its labour intensity large, can not realize not resting for 8 hours running like a machine, it must be have a rest to work with batch (-type) of combining of work), 6 ~ 12 can be replaced to tear open stamp workman's (entrucking robot can realize continuous print do not rest for 24 hours running).In current people workman's shortage, when labor cost increases day by day, its economic benefit and social benefit are huge.
Beneficial effect:
Entrucking robot described in the utility model achieves unmanned, the full automaticity of entrucking, thus has saved manpower, and entrucking efficiency improves greatly, and entrucking more specification, neat, is easier to later unloading.
Accompanying drawing explanation
Fig. 1 is the structural representation of entrucking robot described in the utility model;
Fig. 2 is the back view of entrucking robot described in the utility model;
Wherein, 1, roller, 2, move up and down motor; 3, steel rope; 4, main body frame; 5, material loading platform; 6, conveyer belt mechanism; 7, mechanical gripper; 8, cylinder; 9, guide rail is moved up and down; 10, movable guide rail; 11, main body frame moving wheel, 12, material loading platform moving wheel, 13, proximity switch, 14, travel switch, 15, the first photoelectric switch, 16, handgrip finger driven wheel, 17, mechanical gripper rotate finger, the 18, second photoelectric switch, 19, wheel flutter, 20, movable motor, 61, plane load-transfer device, 62, slope load-transfer device.
Detailed description of the invention
Below in conjunction with accompanying drawing and a preferred embodiment, the technical solution of the utility model is further described.
Embodiment:
As shown in Fig. 1 ~ Fig. 2: the present embodiment a kind of entrucking robot of disclosing, comprise
One main body frame 4, in order to fixing each mechanism and other parts;
One material loading platform 5, for carrying the goods needing entrucking;
One mechanical gripper 7, carries out entrucking in order to capture goods;
One conveyer belt mechanism 6, two ends connect described material loading platform 5 and mechanical gripper 7 respectively, for goods is delivered to described mechanical gripper 7 from material loading platform 5;
One reciprocating mechanism, moves up and down in order to driving mechanical handgrip 7;
One movable guide rail 10, is arranged on the ground of lower end, main body frame 4 both sides;
One power pack, the movable motor 20 comprising the servomotor controlling mechanical gripper 7 and carry out rotating, the cylinder 8 controlling mechanical gripper 7 folding and drive main body frame 4 movable;
One induction controller, comprise cargo location inductor, blanking inductor and vehicle location inductor, travel switch, proximity switch, photoelectric switch and electromagnetic valve induction controller, be arranged on the diverse location of main body frame respectively, run in order to control mechanical gripper.
Proximity switch 13 and travel switch 14 are arranged on and move up and down guide rail 9 side, and effect is that induction controls mechanical gripper 7 back to zero.
First photoelectric switch 15 is arranged on mechanical gripper and rotates finger 17 place, and effect senses that goods arrives correct assigned address.
Second photoelectric switch 18 is arranged in the middle part of main body frame 4, and effect senses that storing cycle arrives correct position.
One of preferably, described reciprocating mechanism comprises steel rope 3, roller 1, moves up and down motor 2 and move up and down guide rail 9, wherein, described steel rope 3 is arranged at main body frame 4 upper end, two ends are connected to roller 1 and described mechanical gripper 7 and conveyer belt mechanism 6, describedly move up and down motor 2 and roller 1 is arranged on main body frame 4 side, the described motor 2 that moves up and down rotates for driving rolls 1, described in move up and down guide rail 9 and be connected to mechanical gripper 7 and conveyer belt mechanism 6 by slide block.
One of preferably, described conveyer belt mechanism 6 comprises plane load-transfer device 61 and slope load-transfer device 62, the direction of described plane load-transfer device 61 is vertical with the direction of described movable guide rail 10, described plane load-transfer device 61 one end is parallel is connected to described mechanical gripper 7, the other end is vertically connected at slope load-transfer device 62, and the other end of described slope load-transfer device 62 is connected to material loading platform 5; The wheel flutter 19 allowing material change service direction is also provided with in the junction of plane load-transfer device 61 and slope load-transfer device 62.
One of preferably, bottom described material loading platform 5, corner is also equipped with four in order to drive the material loading platform moving wheel 12 of material loading platform 5 movement.
One of preferably, also comprise the handgrip finger driven wheel 16 being arranged on described mechanical gripper 7 lower end, described handgrip finger driven wheel 16 drives the finger of described mechanical gripper 7 to carry out rotation by described driven by servomotor to make goods can enter mechanical gripper 7.
One of preferably, bottom described main body frame 4, moving wheel 11 is housed, described main body frame moving wheel 11 is positioned in described movable guide rail 10 and drives main body frame 4 to move forward and backward along movable guide rail 10.
One of preferably, described main body frame 4 is gauntry crane rack and panel construction.
Entrucking machine manually makes principle and step:
The course of action of entrucking robot comprises the following steps:
Entrucking robot is each parts automatic homing in an initial condition, and reciprocating mechanism driving mechanical handgrip 7 moves to the position of the vertex of setting.
Loading vehicle is rested in the region that the front of entrucking robot is fixing.
Parameters, inputs the box width of loading vehicle, entrucking row and the number of plies.
Packed or case dress material are put on material loading platform 5 by truck driver, and material is put on load-transfer device by operator, presses start button, and entrucking robot enters automatic operating state.
After mechanical gripper 7 receives inductor notice, above motor and sensing apparatus controlled motion to vehicle blowing, handgrip 7 is opened in cylinder 8 work, cylinder operation closes handgrip, moving up and down motor 2 controls after mechanical gripper 7 rises to position by steel rope 3, cylinder 8 works, and opens mechanical gripper 7, puts down material.
Mechanical gripper 7 is according to the arrangement of sensing apparatus and control program, that in compartment, carries out material piles up work, after certain altitude piled up by material, main body frame 4 (gallows frame) and material loading platform 5 are driven by movable motor 20 and move to relevant position backward, and mechanical gripper 7 continues crawl and piles up work.
After the number of plies of setting is put, equipment revert to initial condition.
If this loading vehicle continues loading, then vehicle forward is to appropriate location, continues charging.
According to vehicle cargo situation, when setup parameter, the width in the row of entrucking, the number of plies, compartment can be set.
Load-transfer device, servomotor, mechanical gripper, cylinder and between action coordinate, be the marrow place of the utility model detailed description of the invention, material put accurately and is in the proper place.
Therefore the entrucking mode of this kind of machine, can make entrucking raise the efficiency to greatest extent, reduces the travel frequency of vehicle, saves manpower, raises the efficiency, and increases the benefit of enterprise.
It is to be noted; as described above is only the preferred embodiment explaining the utility model; not attempt does any restriction in form to the utility model according to this; be with; all any modification or changes having relevant the utility model of doing under identical utility model spirit, all must be included in the category of the utility model intention protection.

Claims (7)

1. an entrucking robot, is characterized in that, comprises
One main body frame, in order to fixing each mechanism and other parts;
One material loading platform, for carrying the goods needing entrucking;
One mechanical gripper, carries out entrucking in order to capture goods;
One conveyer belt mechanism, two ends connect described material loading platform and mechanical gripper respectively, for goods is delivered to described mechanical gripper from material loading platform;
One reciprocating mechanism, moves up and down in order to driving mechanical handgrip;
One movable guide rail, is arranged on the ground of lower end, main body frame both sides;
One power pack, the movable motor comprising the rotation servomotor controlling mechanical gripper and carry out rotating, the cylinder controlling mechanical gripper folding and drive main body frame movable;
One induction controller, comprise cargo location inductor, blanking inductor and vehicle location inductor, travel switch, proximity switch, photoelectric switch and electromagnetic valve induction controller, be arranged on the diverse location of main body frame respectively, run in order to control mechanical gripper.
2. entrucking robot according to claim 1, it is characterized in that, described reciprocating mechanism comprises steel rope, roller, moves up and down motor and move up and down guide rail, wherein, described steel rope is arranged at main body frame upper end, two ends are connected to roller and described mechanical gripper and conveyer belt mechanism, describedly move up and down motor and roller is arranged on main body frame side, the described motor that moves up and down rotates for driving rolls, described in move up and down guide rail and be connected to mechanical gripper and conveyer belt mechanism by slide block.
3. entrucking robot according to claim 1, it is characterized in that, described conveyer belt mechanism comprises plane load-transfer device and slope load-transfer device, the direction of described plane load-transfer device is vertical with the direction of described movable guide rail, described plane load-transfer device one end is parallel is connected to described mechanical gripper, the other end is vertically connected at slope load-transfer device, and the other end of described slope load-transfer device is connected to material loading platform; The wheel flutter allowing material change service direction is also provided with in the junction of plane load-transfer device and slope load-transfer device.
4. entrucking robot according to claim 1, is characterized in that, bottom described material loading platform, corner is also equipped with four in order to drive the material loading platform moving wheel of material loading platform movement.
5. entrucking robot according to claim 1, it is characterized in that, also comprise the handgrip finger driven wheel being arranged on described mechanical gripper lower end, described handgrip finger driven wheel drives the finger of described mechanical gripper to carry out rotation by described driven by servomotor to make goods to enter handgrip.
6. entrucking robot according to claim 2, is characterized in that, bottom described main body frame, moving wheel is housed, and described moving wheel is positioned in described movable guide rail and drives main body frame to move forward and backward along movable guide rail.
7. entrucking robot according to claim 6, is characterized in that, described main body frame is gauntry crane rack and panel construction.
CN201420297393.2U 2014-06-04 2014-06-04 A kind of entrucking robot Expired - Fee Related CN204265030U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201420297393.2U CN204265030U (en) 2014-06-04 2014-06-04 A kind of entrucking robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201420297393.2U CN204265030U (en) 2014-06-04 2014-06-04 A kind of entrucking robot

Publications (1)

Publication Number Publication Date
CN204265030U true CN204265030U (en) 2015-04-15

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Application Number Title Priority Date Filing Date
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106516804A (en) * 2016-12-20 2017-03-22 昆明船舶设备集团有限公司 Automatic unloading device system for cigarette packet unloading mechanical arm

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106516804A (en) * 2016-12-20 2017-03-22 昆明船舶设备集团有限公司 Automatic unloading device system for cigarette packet unloading mechanical arm
CN106516804B (en) * 2016-12-20 2019-08-09 昆明昆船物流信息产业有限公司 A kind of device systems that cigarette packet wagon shaker hand is unloaded automatically

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GR01 Patent grant
C14 Grant of patent or utility model
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150415

Termination date: 20190604

CF01 Termination of patent right due to non-payment of annual fee