CN204777750U - Packing cupboard handling device - Google Patents
Packing cupboard handling device Download PDFInfo
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- CN204777750U CN204777750U CN201520223480.8U CN201520223480U CN204777750U CN 204777750 U CN204777750 U CN 204777750U CN 201520223480 U CN201520223480 U CN 201520223480U CN 204777750 U CN204777750 U CN 204777750U
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- load
- transfer device
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Abstract
The utility model discloses a packing cupboard handling device, including controlling means, goods conveyer belt, positioning mechanism, snatch the robot and snatch the moving mechanism of robot, goods conveyer belt, positioning mechanism, snatch the robot and snatch the moving mechanism of robot all with controlling means electric connection snatchs the robot and is provided with and removes extremely anchor clamps on the goods conveyer belt, positioning mechanism is including setting up the goods sensing apparatus on the goods conveyer belt and locating range unit on the anchor clamps, goods sensing apparatus and range unit all with controlling means electric connection. Above -mentioned packing cupboard handling device passes through snatching the moving mechanism of robot and driving and to snatch inside the robot enters into the packing cupboard, controlling means is given to the back and with here message routing to goods sensing apparatus sensing, and controlling means controls and snatchs the robot and snatch the goods to according to the position distance in the range unit measurement packing cupboard, place desired position with the goods, it unloads perhaps to install opposite flow.
Description
Technical field
The utility model relates to freight traffic technique field, particularly relates to a kind of counter handler.
Background technology
Along with the progress of society, the development of enterprise, also gets more and more to the transport of product and turnover with container car, but the handling goods in transport with circular flow also gets more and more.Not only labour power density is large for traditional artificial handling goods, working strength is large, production efficiency is low, cost is high, recruitment is difficult, management is difficult, but also greatly restriction and the development and the expansion that affect its scope of the enterprise, indivedual hazardous materials, irritant smell article or there are dust article and be more not suitable with a dead lift.Thus the mode of existing artificial loading-unloading vehicle is difficult to meet now in the demand of the enterprise gone from strength to strength.
Utility model content
Based on this, the utility model is to provide a kind of counter handler, and it can overcome the deficiencies in the prior art, realizes the quick despatch of goods, saves human input, increases work efficiency and safety.
Its technical scheme is as follows:
A kind of counter handler, comprise control setup, goods load-transfer device, detent mechanism, capture robot and capture robot moving mechanism, described goods load-transfer device, detent mechanism, crawl robot and crawl robot moving mechanism are all electrically connected with described control setup, and described crawl robot is provided with the fixture that can move on described goods load-transfer device; Described detent mechanism comprises the goods sensing device be arranged on described goods load-transfer device and the distance measuring equipment (DME) be located on described fixture, and described goods sensing device and described distance measuring equipment (DME) are all electrically connected with described control setup.
Below further technical scheme is described:
Wherein in an embodiment, described crawl robot moving mechanism comprises slide unit, guide rail and driver train, described crawl robot is fixed on described slide unit, described slide unit is fixedly connected with described guide rail, described driver train is connected with described guide rail, and described driver train is connected with described control setup.
Wherein in an embodiment, the length of described slide unit is longer than the length being loaded counter.
Wherein in an embodiment, described goods sensing device is opto-electronic pickup, and described opto-electronic pickup is located in the action radius of described fixture, and described distance measuring equipment (DME) is laser range sensor.
Wherein in an embodiment, described detent mechanism is vision positioning device, and described vision positioning device is arranged on described fixture.
Wherein in an embodiment, described goods load-transfer device comprises at least two load-transfer devices, and the connection mode of adjacent two described load-transfer devices is that side connects or docks.
Wherein in an embodiment, it also comprises illumination equipment, and described illumination equipment is fixed on described fixture.
Wherein in an embodiment, described crawl robot comprises mechanical arm, and described mechanical arm comprises the joint arm that six joints are flexibly connected successively.
Below the principle, effect etc. of preceding solution are described:
Above-mentioned counter handler is driven by described crawl robot moving mechanism and captures robot and enter into counter inside, arrives and needs in the region of handling goods, enables crawl robot after capturing goods and is moved to the position of needs; Described goods is used for conveyer belt in conveying articles, and the throughput direction of goods load-transfer device can adjust according to the actual requirements, and the goods in counter can be delivered to outside counter by it, also the goods outside counter can be delivered in counter; The goods sensing device of described detent mechanism can sense the position of the goods on goods load-transfer device, when after goods transport to certain position, goods sensing device senses is to rear and this information is sent to control setup, control setup controls to capture robot and captures goods, and measure the positional distance in counter according to distance measuring equipment (DME), goods is placed into the position of needs; Or described crawl robot captures robot according to the output control that distance measuring equipment (DME) is measured and moves to counter and capture corresponding goods, is placed into afterwards on described goods load-transfer device again, is transported to destination locations by goods load-transfer device.
The handling goods of full rotation type can be realized by described counter handler, fast casing, tank body, parcel or tubbiness goods are filled cabinet or unloading by specification, greatly reduce manual labor, reduce Enterprise Integrated cost, increase work efficiency and safety factor.
Accompanying drawing explanation
Fig. 1 is the structural representation of the counter handler described in the utility model embodiment;
Fig. 2 is the lateral plan of the counter handler described in the utility model embodiment.
Description of reference numerals:
10, goods load-transfer device, 12, goods sensing device, 20, capture robot, 22, fixture, 24, distance measuring equipment (DME), 26, arm is saved, 28, illumination equipment, 30, capture robot moving mechanism, 32, slide unit, 34, guide rail, 36, driver train, 100, goods, 200, counter.
Detailed description of the invention
Below embodiment of the present utility model is described in detail:
As shown in Figures 1 and 2, a kind of counter handler, comprise control setup, goods load-transfer device 10, detent mechanism, capture robot 20 and capture robot moving mechanism 30, described goods load-transfer device 10, detent mechanism, crawl robot 20 and crawl robot moving mechanism 30 are all electrically connected with described control setup, and described crawl robot 20 is provided with the fixture 22 that can move on described goods load-transfer device 10; Described detent mechanism comprises the goods sensing device 12 be arranged on described goods load-transfer device 10 and the distance measuring equipment (DME) 24 be located on described fixture 22, and described goods sensing device 12 and described distance measuring equipment (DME) 24 are all electrically connected with described control setup.
It is inner that described counter handler drives crawl robot 20 to enter into counter 200 by described crawl robot moving mechanism 30, arriving needs in the region of handling goods 100, makes crawl robot 20 capture after goods 100 and to be moved to the position of needs; Described goods load-transfer device 10 is for conveying articles 100, and the throughput direction of goods load-transfer device 10 can adjust according to the actual requirements, and the goods 100 in counter 200 can be delivered to outside counter 200 by it, also the goods 100 outside counter 200 can be delivered in counter 200; The goods sensing device 12 of described detent mechanism can sense the position of the goods 100 on goods load-transfer device 10, after goods 100 is transported to certain position, goods sensing device 12 senses rear and this information is sent to control setup, control setup controls to capture robot 20 and captures goods 100, and measure the positional distance in counter 200 according to distance measuring equipment (DME) 24, goods 100 is placed into the position of needs.
Described counter handler is when being applied to unloading, equally first drive crawl robot 20 to arrive by described crawl robot moving mechanism 30 and need discharging place, the distance needing the goods 100 captured is measured again by distance measuring equipment (DME) 24, again by capturing the fixture 22 gripping goods of robot 20, and goods is positioned on goods load-transfer device, be delivered to destination.Repetition like this, completes the unloading of all goods.
As shown in Figure 2, described crawl robot moving mechanism 30 comprises slide unit 32, guide rail 34 and driver train 36, described crawl robot 20 is fixed on described slide unit 32, described slide unit 32 is fixedly connected with described guide rail 34, described driver train 36 is connected with described guide rail 34, and described driver train 36 is connected with described control setup.Wherein, the length of described slide unit 32 is longer than the length of the counter 200 be loaded; Slide unit 32 can extend into the innermost of described counter 200, can operate goods 100 in whole counter 200.When slide unit 32 part extend in counter 200, another part is positioned at outside counter 200, preferably reinforces on the basis of counter 200 outside, guarantees that slide unit 32 can be stablized, and makes crawl robot 20 stablize running.Described guide rail 34 is preferably line slideway, and described driver train 36 is preferably linear electric motors, and described line slideway is fixed on the below of described slide unit 32, and the quantity of line slideway can be selected to arrange according to the length of slide unit 21; Described linear electric motors drive described line slideway to carry out way moving, and the crawl robot 20 controlled on slide unit 32 is in different positions.
Described goods sensing device 12 is opto-electronic pickup, and described opto-electronic pickup 12 is located in the action radius of described fixture 22, and described distance measuring equipment (DME) 24 is laser range sensor.Described opto-electronic pickup 12 is installed within the scope of the crawl of described crawl robot 20, when goods 100 transfers to described opto-electronic pickup place by described cargo transfer band 10, opto-electronic pickup is triggered by goods now, and this information is sent to described control setup.Afterwards, described control setup then sends electric signal to described distance measuring equipment (DME) 24, control distance measuring equipment (DME) and measure the position this time needing arrangement of goods 100, and this goods 100 is placed into this position by control setup control crawl robot 20, completes the dress cabinet of a goods 100.
Preferably, described detent mechanism can also replace with vision positioning device, and vision positioning device and described control setup are electrically connected, and vision positioning device is arranged on described fixture 22.The image mechanism of vision positioning device can capture the location information of the goods 100 on goods load-transfer device 10, when it detects that goods 100 is in the operating range of crawl robot 20, control setup controls to capture robot 20 action again, and vision positioning device is according to the room information of counter 200, make crawl robot 20 that goods 100 is placed into the position of needs.Described vision positioning device can be 3D vision positioning device or other vision positioning devices.
Described crawl robot 20 comprises mechanical arm, and described mechanical arm comprises the joint arm 26 that six joints are flexibly connected successively.By the control device of prior art, realize the freely movable of each joint arm 26, improve the flexibility ratio capturing goods 100.
Described counter handler also comprises illumination equipment 28, and described illumination equipment 28 is fixed on described fixture 22.When capture robot 20 extend into work counter 200 in time, especially when counter penetralia, illumination equipment 28 can provide light source, guarantees that distance measuring equipment (DME) 24 in detent mechanism or vision positioning device can normally work.
In the present embodiment, described goods load-transfer device 10 comprises at least two load-transfer devices, by the connection of adjacent two load-transfer devices, realizes the transport of goods.Preferably the connection mode of adjacent two described load-transfer devices is that side connects or docks.
Each technical characteristic of the above embodiment can combine arbitrarily, for making description succinct, the all possible combination of each technical characteristic in above-described embodiment is not all described, but, as long as the combination of these technical characteristics does not exist contradiction, be all considered to be the scope that this specification sheets is recorded.
The above embodiment only have expressed several embodiment of the present utility model, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to utility model patent scope.It should be pointed out that for the person of ordinary skill of the art, without departing from the concept of the premise utility, can also make some distortion and improvement, these all belong to protection domain of the present utility model.Therefore, the protection domain of the utility model patent should be as the criterion with claims.
Claims (8)
1. a counter handler, it is characterized in that, comprise control setup, goods load-transfer device, detent mechanism, capture robot and capture robot moving mechanism, described goods load-transfer device, detent mechanism, crawl robot and crawl robot moving mechanism are all electrically connected with described control setup, and described crawl robot is provided with the fixture that can move on described goods load-transfer device; Described detent mechanism comprises the goods sensing device be arranged on described goods load-transfer device and the distance measuring equipment (DME) be located on described fixture, and described goods sensing device and described distance measuring equipment (DME) are all electrically connected with described control setup.
2. counter handler according to claim 1, it is characterized in that, described crawl robot moving mechanism comprises slide unit, guide rail and driver train, described crawl robot is fixed on described slide unit, described slide unit is fixedly connected with described guide rail, described driver train is connected with described guide rail, and described driver train is connected with described control setup.
3. counter handler according to claim 2, is characterized in that, the length of described slide unit is longer than the length being loaded counter.
4. counter handler according to claim 1, is characterized in that, described goods sensing device is opto-electronic pickup, and described opto-electronic pickup is located in the action radius of described fixture, and described distance measuring equipment (DME) is laser range sensor.
5. counter handler according to claim 1, is characterized in that, described detent mechanism is vision positioning device, and described vision positioning device is arranged on described fixture.
6. counter handler according to claim 1, is characterized in that, described goods load-transfer device comprises at least two load-transfer devices, and the connection mode of adjacent two described load-transfer devices is that side connects or docks.
7. counter handler according to claim 1, it is characterized in that, it also comprises illumination equipment, and described illumination equipment is fixed on described fixture.
8. the counter handler according to claim 1 to 7 any one, is characterized in that, described crawl robot comprises mechanical arm, and described mechanical arm comprises the joint arm that six joints are flexibly connected successively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520223480.8U CN204777750U (en) | 2015-04-14 | 2015-04-14 | Packing cupboard handling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520223480.8U CN204777750U (en) | 2015-04-14 | 2015-04-14 | Packing cupboard handling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204777750U true CN204777750U (en) | 2015-11-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520223480.8U Withdrawn - After Issue CN204777750U (en) | 2015-04-14 | 2015-04-14 | Packing cupboard handling device |
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| Country | Link |
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| CN (1) | CN204777750U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104828576A (en) * | 2015-04-14 | 2015-08-12 | 广州达意隆包装机械股份有限公司 | Loading and unloading apparatus of container |
| CN106276325A (en) * | 2016-08-31 | 2017-01-04 | 长沙长泰机器人有限公司 | Van automatic loading system |
| CN109264433A (en) * | 2018-08-01 | 2019-01-25 | 台朔重工股份有限公司 | Automatic loading equipment and loading method |
| WO2019213902A1 (en) * | 2018-05-10 | 2019-11-14 | 深圳蓝胖子机器人有限公司 | Goods loading and unloading vehicle, goods transfer system and method for automatically adjusting layout of goods |
-
2015
- 2015-04-14 CN CN201520223480.8U patent/CN204777750U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104828576A (en) * | 2015-04-14 | 2015-08-12 | 广州达意隆包装机械股份有限公司 | Loading and unloading apparatus of container |
| CN104828576B (en) * | 2015-04-14 | 2017-03-15 | 广州达意隆包装机械股份有限公司 | Counter handler |
| CN106276325A (en) * | 2016-08-31 | 2017-01-04 | 长沙长泰机器人有限公司 | Van automatic loading system |
| CN106276325B (en) * | 2016-08-31 | 2018-12-21 | 长沙长泰机器人有限公司 | Van automatic loading system |
| WO2019213902A1 (en) * | 2018-05-10 | 2019-11-14 | 深圳蓝胖子机器人有限公司 | Goods loading and unloading vehicle, goods transfer system and method for automatically adjusting layout of goods |
| CN109264433A (en) * | 2018-08-01 | 2019-01-25 | 台朔重工股份有限公司 | Automatic loading equipment and loading method |
| US10781061B2 (en) | 2018-08-01 | 2020-09-22 | Formosa Heavy Industries Corporation | Automatic loading apparatus and application of the same |
| CN109264433B (en) * | 2018-08-01 | 2021-04-02 | 台朔重工股份有限公司 | Automatic loading equipment and loading method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20151118 Effective date of abandoning: 20171114 |
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| AV01 | Patent right actively abandoned |