CN205852216U - A kind of automatic loading-unloading system of container rotation lock - Google Patents

Abstract

The utility model discloses a kind of container and fix the automatic loading-unloading system of rotation lock, this system is arranged on the transfer platform of bank bridge, parks platform, industrial robot, robot running gear and fixture including container；Container is parked platform and is located on the transfer platform of bank bridge；Robot running gear is located at transfer platform two ends；Industrial robot is installed on robot running gear；The end of industrial robot is provided with fixture.This utility model automatic loading-unloading system cost is low, automaticity is high, precise and high efficiency.

Description

A kind of automatic loading-unloading system of container rotation lock

Technical field

This utility model relates to a kind of harbour and unloads the automated system of Stuff (to), is specifically related to one and is arranged in bank bridge Turn automatic dismantling or the system of installation container rotation lock on platform.

Background technology

Along with constantly popularizing of automatization, harbour the most substantially realizes automatization when loading and unloading container, has been carried out at present Laser scanning, bank bridge captures container, AGV dolly automatic transportation container automatically.But Nowadays, Container shipping dismounting, installation rotation lock ring Joint is still by manually loading and unloading.Automatic loading and unloading lock system is the one of automatic loading and unloading container rotation lock on the bank bridge transfer platform of harbour System.It is locked into luggage by the container rotation on this system opposite bank bridge transfer platform to unload, can dismantle fast and accurately, install Container lock, a large amount of minimizings are on-the-spot artificial, it is ensured that the personal safety of Field Force, promote the automatization level of port and pier, carry The efficiency of loading and unloading of high cube container.Automated handling lock system is an up the important step of port and pier automatization level, is future The inevitable trend of automatic dock.

The most external Ye You automatization dismounting rotation lock system, but equipment is relatively big, relatively costly；And equipment automatization level The highest, accuracy is the highest, and fault is more；Flexible Equipment is not enough, it is impossible to adapt to multiple container.It is thus desirable to design a set of handling Lock system.

Summary of the invention

The purpose of this utility model is to solve defect present in prior art, it is provided that a kind of low cost, automatization Degree is high, the loading and unloading container of precise and high efficiency fixes the equipment that rotation is locked.

In order to achieve the above object, this utility model provides a kind of container and fixes the automatic loading-unloading system of rotation lock, should System is arranged on the transfer platform of bank bridge, parks platform, industrial robot, robot running gear and folder including container Tool；Container is parked platform and is located on the transfer platform of bank bridge；Robot running gear is located at transfer platform two ends；Industrial machine People is installed on robot running gear；The end of industrial robot is provided with fixture.

Wherein, container is parked platform and is used four supporting structures, and uniform parallel is distributed in above the middle part of transfer platform； Industrial robot includes two robots of you portion and middle part robot；Artificial one or two of described middle part machine, is positioned at packaging Case is parked between two, the centre supporting structure of platform；When middle part robot is two, it is fixedly installed on transfer platform；When During artificial one of the machine in middle part, it is located on transfer platform by robot running gear；End robot is respectively arranged in correspondence Robot running gear on.

The midfeather of each supporting structure is provided with two boss；The both sides of each boss are equipped with one group and carve type guiding Frame；Often group carves type leading truck bottom space more than container width.This group is carved type leading truck and is formed up big and down small spacing, just Regularly fall within boss in container hanging, carve type leading truck bottom space and can deposit and at container, be sized slightly larger than collection Vanning width, is unlikely to be stuck when container rises and falls.

This utility model automatic loading-unloading system also includes fixing rotation lock transport wire body；Fixing rotation lock transport wire body is circulating Line, is fixed on transfer platform, and is centered around container and parks below platform week side；If fixing rotation lock transport wire body is provided with Dry can put tool along fixing rotation lock transport wire body circular flow.Each put tool include pallet and be fixed on pallet rotation latch put Frame, its pallet is connected in fixing rotation lock transport wire body, and rotation lock storage rack upper end is provided with U-type groove mouth, and U-type groove mouth size is with fixing Revolving phase-locked adaptation, be suitable for the vertical hanging of rotation lock thereon, U-type groove mouth is towards the outside of fixing rotation lock transport wire body.

It is fixed with six in fixing rotation lock transport wire body to pick up and put point, a upper part point and a lower part point；Pick up put point, on It is equipped with sensor at part point and lower part point；It is provided with at lower part point and pushes away lock cylinder, push away lock cylinder and be positioned at fixing rotation lock transport wire body Inner side；Automatic loading-unloading system also includes lower lock track and lock pin frame；Lower lock track is positioned at the outside of fixing rotation lock transport wire body, And just to pushing away lock cylinder；Lower lock track is connected with lock pin frame.

Fixture includes chuck body, rotary switch device, clamping device, adpting flange and sighting device；Rotary switch device and clamping Device is fixedly installed in chuck body；Rotary switch device includes servomotor, drive mechanism and turns one's head；Servomotor is fixed on folder On tool body, and it is connected with transmission of turning one's head by drive mechanism；Clamping device includes cylinder, jaw；Cylinder is fixedly installed in folder On tool body；Jaw is two, is horizontally placed on immediately below turning one's head, and controls folding by cylinder；Adpting flange is fixed on folder Tool body one end, fixture is connected with industrial robot by adpting flange；Axial and the output shaft of servomotor of adpting flange Axis perpendicular；Sighting device is fixedly mounted in chuck body, visual direction and the centerline axis parallel up and down turned one's head, and regards Feel between two jaws of alignment.

Clamping device also includes connecting rod, floating junction；Cylinder pass sequentially through connecting rod and floating junction and one of them Jaw transmission is connected, and this jaw is connected with another jaw transmission by reverse actuating device；Reverse actuating device include gear, Two tooth bars, two guide rails；Guide rail is fixedly mounted in chuck body；Gear is fixedly installed in chuck body by bearing； Two tooth bars are parallel is located at gear both sides, and is meshed with gear respectively；Jaw is separately mounted on the tooth bar of correspondence；On guide rail It is respectively equipped with freely slidable slide block；Tooth bar is fixedly linked with the slide block on corresponding guide rail.

Wherein, the drive mechanism of the fixture of end robot includes power transmission shaft, bearing, axle sleeve；Axle sleeve is fixed on fixture originally On body；Power transmission shaft is arranged on axle sleeve by bearing, and one end is connected with servomotor by shaft coupling, the other end with turn one's head fixing It is connected；

The drive mechanism of the fixture of middle part robot includes two power transmission shafts, two bearings, two axle sleeves, two cone teeth Wheel；Axle sleeve is fixed in chuck body；Two power transmission shafts are fixed on by corresponding bearing on the axle sleeve of correspondence respectively；One biography One end of moving axis is connected with servomotor by shaft coupling, and the other end is fixedly linked with corresponding bevel gear；Another power transmission shaft One end be fixedly linked with corresponding bevel gear, the other end is fixedly linked with turning one's head；Two bevel gears are meshed.

Sighting device includes vision camera and air nozzle；The nozzle of air nozzle is facing to the camera lens position of vision camera； It is respectively equipped with photoelectric sensor on two jaws；Fixture also includes upper cover and lower closure；Upper cover and lower closure It is fixedly linked and forms the housing of fixture, and be located at outside chuck body；Servomotor, cylinder are positioned at housing；Turn one's head and jaw It is positioned at hull outside；Drive mechanism one end is positioned at enclosure interior, and the other end stretches out and is connected with turning one's head outside housing.

This utility model has the advantage that compared to existing technology

1, platform parked by this utility model container, and container can be made to park accurately on bank bridge transfer platform, permissible The container being suitable for different model (20 chis, 40 chis, 45 chis) is parked.

2, industrial robot of the present utility model is arranged to unload and is installed to all containers rotation lock, and each container Two industrial robots can be had simultaneously to remove stage makeup and costume and to revolve lock, improve efficiency of removing stage makeup and costume.

3, the most existing rotation lock device of removing stage makeup and costume of this utility model, automaticity more last layer: rotation of removing stage makeup and costume can be real when locking Existing full-automation, rotation lock can be pulled down by industrial robot to put and transport on the conveyor line specify position to push in lock pin frame.In peace A people is the most only needed to specify position to lock during dress rotation lock.

4, this utility model rotation lock system flexibility of removing stage makeup and costume is bigger, can have the biggest fault-tolerant when unloading Stuff (to) rotation lock Rate.

5, grip device of the present utility model is replaceable turns one's head, and makes robot clamp be suitable for difference rotation lock, is that system is suitable for The container handling of different rotation locks.

Accompanying drawing explanation

Fig. 1 is this utility model automatic loading-unloading system structural representation when 20 chi container；

Fig. 2 is the side view of automatic loading-unloading system in Fig. 1；

Fig. 3 is the structural representation of robot running gear in Fig. 1；

Fig. 4 is the topology view of fixing rotation lock transport wire body in Fig. 1；

Fig. 5 is the structural representation putting tool in Fig. 4；

Fig. 6 this utility model automatic loading-unloading system structural representation when 40 chis and 45 chi container；

Fig. 7 is the structural representation of the fixture that Fig. 1 medial end portions robot end fixes；

Fig. 8 is the structural representation of chuck body in Fig. 7；

Fig. 9 is the structural representation of rotary switch device in Fig. 7；

The structural representation of clamping device in Figure 10 Fig. 7；

Figure 11 is the overall appearance figure of fixture in Fig. 7；

Figure 12 is the structural representation of the fixture that middle part robot end fixes in Fig. 1；

Figure 13 is the structural representation of rotary switch device in Figure 12；

Figure 14 is the overall appearance figure of fixture in Figure 12.

In figure, 1-transfer platform, 2-container parks platform, 3-end robot I, and 4-end robot II, in the middle part of 5- Robot III, robot IV in the middle part of 6-, 7-robot running gear, 8-fixing rotation lock transport wire body, 8.1-puts tool, 8.1.1-U Type notch, 8.2-pushes away lock cylinder, locks track under 8.3-, and 9-revolves lock, and 10-rotation locker tool I, 11-rotation locker has II, 12-lock pin frame, 13-20 chi container, 14-40 chi container, 15-45 chi container, 101-chuck body I, 102-rotary switch device I, 102.1- Turn one's head, 102.2-drive mechanism I, 102.2.1-power transmission shaft, 102.2.2-bearing, 102.2.3-axle sleeve, 102.3-shaft coupling, 102.4-servomotor, 103-clamping device, 103.1-jaw 1,103.2-jaw 2,103.3-photoelectric sensor, 103.4-tooth Bar, 103.5-gear, 103.6-guide rail, 103.7-connecting rod, 103.8-floating junction, 103.9-cylinder, 104-sighting device, 104.1-vision camera, 104.2-air nozzle, 105-upper cover I, 106-lower closure I, 101a-chuck body II, 102a-rotary switch device II, 102.2a-drive mechanism II, 102.2a.1-power transmission shaft 1,102.2a.2-power transmission shaft 2,102.2a.3- Bearing, 102.2a.4-axle sleeve, 102.2a.5-bevel gear, 105a-upper cover II, 106a-lower closure II.

Detailed description of the invention

Below in conjunction with the accompanying drawings this utility model is described in detail.

This utility model container fix rotation lock automatic loading-unloading system be equipped on the transfer platform 1 of bank bridge, according in The space turning platform 1 has carried out layout as shown in Figure 1 to system equipment.System includes that platform 2 parked by container；Four industry Robot (includes end robot I 3 and end robot II 4, middle part robot III 5 and middle part robot IV 6)；Two Robot running gear 7(, when middle part robot only arranges 1, needs to add a robot running gear 7 in centre)；Gu Fixed rotation lock transport wire body 8；Fixture I 10, fixture II 11.

Fig. 1, Fig. 2 with four more complicated 20 chi containers remove stage makeup and costume rotation lock illustrate, wherein 20 chi containers 13 are parked Parking on platform 2 at container, wherein container is parked platform 2 and is used four supporting structures, and uniform parallel is distributed in transfer and puts down Above the middle part of platform.Being provided with two boss in the middle of each supporting structure, boss both sides are provided with carves type leading truck, carries out container It is relatively accurate, even if container is parked accurately at short side direction that guide-localization makes that container can park.And container is short The length of edge direction is slightly larger than boss length in the direction so that when container is parked on boss, the corner of container Unsettled facilitate robot carry out revolve lock remove stage makeup and costume；Long side direction is then by self precision controlling of bank bridge.(long side direction is without fixed in so design Position) benefit be also to be suitable for different length (20 chis, 40 chis, 45 chis) container handling.

Industrial robot is separately positioned in the middle part of transfer platform 1 two ends and transfer platform 1, and end robot I 3 is responsible for a left side Hole, four, the left side of two containers in limit, such as figure I hole；End robot II 4 is responsible for four, the right of two containers in the right Hole, such as figure II hole；Middle robot III is responsible for two holes of left side container right-hand member and two Kong Rutu of the right container left end III hole；Middle part robot IV is responsible for two holes of left side container right-hand member and two Kong Rutu IV holes of the right container left end.

Robot running gear 7 is set in parallel in transfer platform two ends respectively, and end robot 3,4 is installed on machine People's Bank of China Walk in mechanism, can move back and forth on robot running gear, the defect not enough to make up robot reachable tree.Middle part machine Device people 5,6 is directly installed in the middle of transfer platform 1, and parks between two, the centre supporting structure of platform at container.As Middle part robot when only arranging one, adds a robot running gear be arrangeding in parallel 7 in centre, makes the middle part robot can To move back and forth.

In conjunction with Fig. 3, robot running gear 7 uses existing structure, utilizes servomotor to drive the walking frame body on guide rail Motion, can make industrial robot accurately rest on the optional position on guide rail, it is achieved the dismounting rotation lock work of two stations of robot Make, reduce robot quantity, reduce the cost of whole system.

The end of end robot I 3 and end robot II 4 is equipped with rotation locker tool I 10, in conjunction with Fig. 7, rotation locker tool I 10 include chuck body I 101, rotary switch device I 102, clamping device 103, sighting device 104, upper cover I 105 and bottom Case I 106.Rotary switch device I 102, clamping device 103, sighting device 104 are all loaded in chuck body I 101, and vision fills Put 104 and be respectively arranged at the left and right sides of rotary switch device 102 with clamping device 103.As shown in Figure 8, in chuck body I 101 It is provided with various interface for rotary switch device I 102, clamping device 103, the installation of sighting device 104, chuck body I 101 side Being provided with adpting flange, adpting flange axis is vertical with the axis of rotary switch device I 102, and adpting flange can be with robot end's flange It is connected.

As it is shown in figure 9, rotary switch device I 102 includes turning one's head 102.1, drive mechanism 102.2, shaft coupling 102.3, servo electricity Machine 102.4, drive mechanism 102.2 includes power transmission shaft 102.2.1, bearing 102.2.2, axle sleeve 102.2.3, power transmission shaft 102.2.1 in being fixed on axle sleeve 102.2.3 by bearing 102.2.2 free to rotate, axle sleeve 102.2.3 is by the fixing peace of flange Being loaded in chuck body I 101, servomotor 102.4 is installed in chuck body I 101 and and drive mechanism also through flange 102.2 axis coaxles, power transmission shaft 102.2.1 is connected with servomotor 102.4 shaft coupling 102.3.Turn one's head and 102.1 pass through screw Be installed on power transmission shaft 102.2.1 end, turn one's head 102.1 can according to rotation lock situation be replaced.

As shown in Figure 10, this utility model clamping device 103 includes jaw 103.1 and 103.2, tooth bar 103.4, gear 103.5,2 guide rails 103.6, connecting rod 103.7, floating junctions 103.8, cylinders 103.9.It is equipped with cunning on 2 guide rails 103.6 Block, slide block can be along slide, and 2 guide rails 103.6 are fixed in chuck body I 101, and gear 103.5 is fixed on by bearing In chuck body I 101 free to rotate, gear is positioned in the middle of 2 guide rails；Jaw 103.1 and 103.2 is separately mounted to correspondence Tooth bar 103.4 on, 2 tooth bars 103.4 are respectively arranged on the slide block of corresponding guide rail 103.6, and 2 tooth surface of rack are relatively and flat OK, now 2 tooth bars are while simultaneously engaging on gear 103.5；Floating junction 103.8 and jaw are passed through in connecting rod 103.7 one end 103.1 are connected, and one end is connected with cylinder 103.9.Cylinder 103.9 is fixedly installed in chuck body I 101, and cylinder 103.9 is stretched Going out to drive jaw 103.1 to open, jaw 103.1 passes sequentially through tooth bar simultaneously, gear, rack drives jaw 103.2 are reversely transported Dynamic, such 2 jaws are and open.Otherwise cylinders retract can make 2 jaws realize pinching action.On jaw 103.1,103.2 Being respectively arranged with photoelectric sensor, 2 photoelectric sensors form correlation, can block correlation, when not revolving lock work when there being rotation lock workpiece During part, can correlation sense, to detect whether fixture is clamped with rotation lock.

In conjunction with Fig. 7, Figure 11, sighting device 104 is installed in chuck body I 101, is in close proximity to rotary switch device I 102, depending on Feel that device 104 includes vision camera 104.1 and air nozzle 104.2.Vision camera 104.1 uses infrared imaging, its camera lens pair Quasi-clamping rotation lock side, to (between i.e. two jaws 103.1,103.2), to installing the container lockhole of rotation lock or can place rotation The tool of putting of lock carries out vision localization, can guide the industrial robot alignment lockhole that rotation locker tool is installed.Air nozzle 104.2, it is fitted in chuck body, is directed at vision camera 104.1 camera lens, miscellaneous with other for blowing away the dust of camera lens Matter, it is ensured that sighting device normally works.

As shown in figure 11, whole fixture all uses upper cover I 105, lower closure I 106 to protect formation shell Body, rotation locker tool only have the drive mechanism end in turn-knob I 102 device and be connected to drive mechanism end turn one's head 102.1, Vision camera 104.1 camera lens of sighting device 104, air nozzle 104.2；2 jaws of clamping device 103 are exposed outside device Face, remaining equipment enclosure interior the most outside.

The end of middle part robot III 5 and middle part robot IV 6 is equipped with rotation locker tool II11, in conjunction with Figure 12, rotation locker tool II 11 includes chuck body II 101a, rotary switch device II 102a, clamping device 103, sighting device 104, upper cover I 105a and lower closure I 106a.Clamping device 103, sighting device 104, chuck body II 101a, upper cover 105a and under The position relationship of portion case 106a is with rotation locker tool I 10.Clamping device 103, the structure of sighting device 104 have I with rotation locker 10。

The servomotor 102.4 of this rotation locker tool II 11 is vertical with 102.1 axis of turning one's head, below in conjunction with Figure 12 ~ Figure 14 pair Rotation locker tool II 11 is described.

As shown in figure 12, ultimate principle is identical with rotation locker tool I 10, and chuck body structure and rotary switch device are different. The axis of the robot mounting flange of chuck body II 101a and the axis coaxle turned one's head, servomotor 2.4 axis with turn one's head Axis is vertical；Clamping device, rotary switch device, sighting device are all arranged on chuck body II 101a.

As shown in figure 13, rotary switch device II 102a includes power transmission shaft 1 102.2a.1, power transmission shaft 2 102.2a.2,2 axles Hold 102.2a.3,2 axle sleeve 102.2a.4,2 bevel gear 102.2a.5, servomotor 102.4 and turn one's head 102.1.Transmission It is interior and free to rotate that axle 1 102.2a.1 is installed on axle sleeve 102.2a.4 by bearing 102.2a.3, and transmission shaft end is equipped with cone Gear 102.2a.5；In power transmission shaft 2 102.2a.2 is installed on axle sleeve 102.2a.4 again by bearing 102.2a.3 and can from By rotating, axle head is equipped with bevel gear；2 axle sleeves are installed on chuck body II 101a by flange；2 bevel gears mutually nibble Closing, servomotor 102.4 and power transmission shaft 1 102.2a.1 pass through shaft coupling 102.3 and are connected, and turning one's head 102.1 is installed on power transmission shaft 2 102.2a.2 axle heads, servomotor 102.4 rotates can be by power transmission shaft, Bevel Gear Transmission to turning one's head on 102.1, to rotation lock Lock core turn-knob realizes unlocking action, and servomotor 102.4 is vertical with 102.1 axis of turning one's head.

As shown in figure 14, rotation locker tool II 11 uses upper cover 105a, lower closure 106a to protect equally, rotation Only part-structure is naked as rotation locker tool I 10 is exposed on the external for locker tool II 11, is so that whole fixture can make out of doors With, there is the most dust-proof, waterproof safeguard function.

In conjunction with Fig. 4, fixing rotation lock transport wire body 8, along container lockhole arranged beneath, is i.e. centered around container and parks platform All sides, lower section.Fixing rotation lock transport wire body 8 is provided with some puts tool 8.1, puts tool 8.1 and circulates in fixing rotation lock transport wire body 8 Run.In fixing rotation lock transport wire body 8, corresponding container lockhole is provided with six and picks up and put point (a position as shown in Figure 1), simultaneously solid Fixed rotation lock transport wire body 8 is additionally provided with a part point (b position as shown in Figure 1) upper, an automatic piece unloading point (c as shown in Figure 1 Position), six pick up put point, one manually upper part point and an automatic piece unloading point circular flow can be put tool and stop, And each position is equipped with sensor detection and puts tool and whether have rotation lock in putting tool, to control in whole transport wire body each section Quantity and the quantity of rotation lock.It is provided with at automatic piece unloading point and pushes away lock cylinder 8.2, push away lock cylinder 8.2 and be positioned at fixing rotation lock transport wire body 8 Inner side；Lower lock track 8.3 is positioned at the outside of fixing rotation lock transport wire body, and just to pushing away lock cylinder；Lower lock track 8.3 and lock pin Frame 12 is connected.

In conjunction with Fig. 5, putting tool 8.1 is frame structure, locks storage rack including pallet with being fixed on pallet rotation, and its pallet connects In fixing rotation lock transport wire body, rotation lock storage rack upper end is provided with U-type groove mouth 8.1.1, U-type groove mouth 8.1.1 size and fixing rotation Phase-locked adaptation, is suitable for the fixing vertical hanging of rotation lock thereon, and U-type groove mouth is towards the outside of fixing rotation lock transport wire body.When putting tool 8.1 move to this position and are stopped in transport wire body, put and lock track under tool upper U-type groove mouth alignment, and pushing away lock cylinder 8.2 can be by Rotation lock pushes transport wire body by lower lock slide to lock pin frame, thus reaches to reclaim to revolve and lock purpose.

When tearing lock open, fixing rotation lock transport wire body 8 is put in having 8.1 without putting rotation lock, i.e. b position is without artificial above part, machine Container after device people will unload a ship carries out tearing latching operation open, respectively pick up put a little have sensor can sense without lock put tool and stop, wait standby Device people transports to lower part position (c position) by pulling down to revolve to lock to be placed on to fix to revolve to lock to transport in putting in wire body 8 has 8.1, and c position detects Push away lock cylinder 8.2 when having rotation lock in putting tool and rotation lock can be pushed transport wire body, import to lock pin frame 12 by lower lock guide rail 8.3 In.

During dress lock, needing manually fixing rotation lock transport wire body 8 to be carried out upper part operation, b position sees having when manually going up part Part on vacant tool, lock can have to transport to each to pick up by putting in transport wire body to be put a little, and respectively picking up to put a little has sensor to feel Ying Yousuo puts tool and the wait robot that stops captures, and robot can carry out dress lock behaviour to loading container onto ship after capturing rotation lock Make.

As shown in Figure 6, during for loading and unloading 40 chis, 45 chi container, attonity, robot are packed up by middle two middle part robots Pack up pose to container without interfering.The same foregoing description of other operation logics.

Being signaled under automatic loading and unloading lock system by bank bridge, which kind of container tell that system bank bridge crane loads is, is to tear open Unloading rotation lock or install rotation lock, automatic loading and unloading lock system can issue signal behavior different mode according to bank bridge and transfer different machines people Carry out handling lock work.

In sum, this container remove stage makeup and costume rotation lock system be suitable for Multiple Type container, be suitable for the rotation of Multiple Type Lock, can improve the automaticity at harbour.

Claims (10)

1. the automatic loading-unloading system that rotation is locked fixed by a container, it is characterised in that: described automatic loading-unloading system includes container Park platform, industrial robot, robot running gear and fixture；Described container is parked platform and is located at the transfer platform of bank bridge On；Described robot running gear is located at transfer platform two ends；Described industrial robot is installed on described robot running gear On；The end of described industrial robot is provided with described fixture.

Automatic loading-unloading system the most according to claim 1, it is characterised in that: described container is parked platform and is used four Shelf structure, uniform parallel is distributed in above the middle part of described transfer platform；Described industrial robot includes two robots of you portion With middle part robot；Artificial one or two of described middle part machine, is positioned at described container and parks two, the centre support of platform Between structure；When middle part robot is two, it is fixedly installed on described transfer platform；When middle part robot is one, It is located on described transfer platform by robot running gear；Described end robot is respectively arranged in the robot ambulation of correspondence In mechanism.

Automatic loading-unloading system the most according to claim 2, it is characterised in that: the midfeather of each supporting structure is provided with two Individual boss；The both sides of each boss are equipped with one group and carve type leading truck；Often group carves type leading truck bottom space more than container width Degree.

Automatic loading-unloading system the most according to claim 1, it is characterised in that: described automatic loading-unloading system also includes fixing rotation Lock transport wire body；Described fixing rotation lock transport wire body is circulating line, is fixed on described transfer platform, and is centered around described Week side below platform parked by container；Described fixing rotation lock transport wire body be provided with some can along described fixing rotation lock transport wire body Circular flow put tool.

Automatic loading-unloading system the most according to claim 4, it is characterised in that: fix in described fixing rotation lock transport wire body and set There are six to pick up and put point, a upper part point and a lower part point；Described pick up to put be equipped with sensor at point, upper part point and lower part point； Be provided with at described lower part point and push away lock cylinder, described in push away lock cylinder be positioned at described fixing rotation lock transport wire body inner side；Described automatically System of removing stage makeup and costume also includes lower lock track and lock pin frame；Described lower lock track is positioned at the outside of described fixing rotation lock transport wire body, and Just push away lock cylinder to described；Described lower lock track is connected with lock pin frame.

Automatic loading-unloading system the most according to claim 5, it is characterised in that put tool described in: and include pallet and be fixed on pallet Upper rotation lock storage rack, described pallet is connected in fixing rotation lock transport wire body；Described rotation lock storage rack upper end is provided with U-type groove Mouthful, U-type groove mouth size revolves phase-locked adaptation with fixing, and the opening direction of U-type groove mouth is towards the outside of fixing rotation lock transport wire body.

Automatic loading-unloading system the most according to claim 2, it is characterised in that: described fixture includes that chuck body, turn-knob fill Put, clamping device, adpting flange and sighting device；Described rotary switch device and clamping device are fixedly installed in described chuck body On；Described rotary switch device includes servomotor, drive mechanism and turns one's head；Described servomotor is fixed in described chuck body, And be connected with transmission of turning one's head by drive mechanism；Described clamping device includes cylinder, jaw；Described cylinder is fixedly installed in described In chuck body；Described jaw is two, be horizontally placed on described in turn one's head immediately below, and by described cylinder control folding；Institute Stating adpting flange and be fixed on described chuck body one end, described fixture is connected with industrial robot by described adpting flange；Institute State the axial output shaft axis perpendicular with described servomotor of adpting flange；Described sighting device is fixedly mounted on described folder On tool body, between visual direction Yu the described centerline axis parallel turned one's head, and two jaws of vision alignment.

Automatic loading-unloading system the most according to claim 7, it is characterised in that: described clamping device also includes connecting rod, floats Dynamic joint；Described cylinder passes sequentially through connecting rod and is connected with one of them jaw transmission with floating junction, and this jaw is by reverse Actuating device is connected with another jaw transmission；Described reverse actuating device includes gear, two tooth bars, two guide rails；Described Guide rail is fixedly mounted in described chuck body；Described gear is fixedly installed in described chuck body by bearing；Two teeth Bar is parallel is located at described gear both sides, and is meshed with described gear respectively；Described jaw is separately mounted on the tooth bar of correspondence； Freely slidable slide block it is respectively equipped with on described guide rail；Described tooth bar is fixedly linked with the slide block on corresponding guide rail.

Automatic loading-unloading system the most according to claim 8, it is characterised in that: the driver of the fixture of described end robot Structure includes power transmission shaft, bearing, axle sleeve；Described axle sleeve is fixed in described chuck body；Described power transmission shaft is pacified by described bearing Being contained on axle sleeve, one end is connected with described servomotor by shaft coupling, and the other end is fixedly linked with described turning one's head；Described middle part The drive mechanism of the fixture of robot includes two power transmission shafts, two bearings, two axle sleeves, two bevel gears；Described axle sleeve is solid It is scheduled in described chuck body；Said two power transmission shaft is fixed on by corresponding bearing on the axle sleeve of correspondence respectively；One biography One end of moving axis is connected with described servomotor by shaft coupling, and the other end is fixedly linked with corresponding bevel gear；Another passes One end of moving axis is fixedly linked with corresponding bevel gear, and the other end is fixedly linked with described turning one's head；Bevel gear nibbles said two mutually Close.

Automatic loading-unloading system the most according to claim 9, it is characterised in that: described sighting device include vision camera and Air nozzle；The nozzle of described air nozzle is facing to the camera lens position of described vision camera；It is respectively equipped with on said two jaw Photoelectric sensor；Described fixture also includes upper cover and lower closure；Described upper cover and lower closure are fixedly linked shape Become the housing of described fixture, and be located at outside described chuck body；Described servomotor, cylinder are positioned at described housing；Described Turn one's head and jaw is positioned at described hull outside；Described drive mechanism one end is positioned at described enclosure interior, and the other end stretches out described shell External and described turning one's head is connected.