CN206537968U

CN206537968U - A kind of rocker-arm automatic loading manipulator

Info

Publication number: CN206537968U
Application number: CN201720210638.7U
Authority: CN
Inventors: 王建军
Original assignee: Mianyang Lan Ao Heavy-Duty Machinery Manufacturing Co Ltd
Current assignee: Mianyang Lan Ao Heavy-Duty Machinery Manufacturing Co Ltd
Priority date: 2016-10-20
Filing date: 2017-03-06
Publication date: 2017-10-03
Anticipated expiration: 2027-03-06
Also published as: CN106865243A; CN206562178U; CN206562179U; CN106865243B; CN106809655B; CN206654553U; CN206562185U; CN106429528A; CN106809655A; CN206562186U; CN206537985U

Abstract

The utility model discloses a kind of rocker-arm automatic loading manipulator, including mechanical arm and installed in the lower feed box of mechanical arm discharging end, the small frame for the rigid structure being connected with lower feed box is installed with the mechanical arm, lower feed box is connected by the universal adjusting device being arranged in small frame with small frame；Transmission mechanism is installed in the mechanical arm, and the discharging end of transmission mechanism is correspondingly arranged with lower feed box.The utility model flexibly controls lower feed box by universal adjusting device, the movement of cooperative mechanical arm, lower feed box load material bag can be quick, accurate, regular be moved to any specified location in railway carriage, not only solve automatic loading blind zone problem but also stacking precisely, automatic loading efficiency high.

Description

A kind of rocker-arm automatic loading manipulator

Technical field

The utility model is related to automatic loading apparatus field, specifically, is a kind of rocker-arm automatic loading manipulator.

Background technology

Powder material generally is carried out into the packed laggard luggage car of packaging in building materials, metallurgy, chemical industry to ship, current entrucking This entrucking process is mainly still relied on and manually carried.The powder material of packed packaging is transported to by workman from workshop During railway carriage carries out entrucking, in the environment largely spread in dust, easily trigger the correlation of the respiratory systems such as pneumoconiosis Disease, not only the physical and mental health to workman bring great harm, return practitioner family and bring white elephant, defended according to country It is that 27240 wherein pneumoconiosis account for 90.2% that life portion, which counts professional case in 2014,.State-level has attracted great attention,《State Administration of Security Supervision of family is on strengthening the powder processing enterprise dust harzard controls such as cement manufacture and stone material》File " peace Prison is total healthy (2013) No. 112 ", issue each provinces, autonomous regions and municipalities and Xinjiang production and construction soldier 14 parts of November in 2013 Security production supervision and management office of group.A large amount of airborne dusts are produced during the entrucking entrucking for the powder material for how solving packed packaging to ask Topic, has also triggered paying close attention to for industry.

Although mechanization entrucking, existing defects can be realized using similar devices such as packet capturing robot, conveying robots： Operation a cycle is only capable of transport（Take, transport, put）One batch materials bag, if being only one bag if a batch materials bag automatic loading efficiency compared with It is low, if a batch materials bag is many bags discharged side by side, although certain operating efficiency can be improved, but to different railway carriage width Adaptability is not good, it is more difficult to make full use of the stacking of the space progress material bag of railway carriage width to put, vehicle is applicable during entrucking Model is limited or railway carriage in space can be wasted；On the other hand, put or be placed in the sky occupied by the equipment itself in railway carriage Between segment space in railway carriage can be caused can not to pile up material bag, so as to " entrucking blind area " occur.

Even if the operation that some loading manipulators, conveying robot stretch into the automatic dress bag of railway carriage progress can be to a certain degree The problem of upper solution entrucking blind area, but its working end of loading manipulator, conveying robot（That is discharging end）The lower feed box of installation with The position that mechanical arm is installed is relatively fixed, it is impossible to relatively moved, and is only capable of performing and is simply unloaded bag action, it is impossible to reaches material The standard of neat, the accurate stacking of bag.

At present, can not be continuously by multiple material bags although flexible manipulator can carry out the accurate placement of material bag Steadily, it is regular, accurately pile up entrucking, therefore industrial demand can not be met.

Utility model content

The purpose of this utility model is to provide a kind of rocker-arm automatic loading manipulator, the lower feed box of mechanical arm working end Can universal adjustment to ensure that lower feed box carries out the unloading stacking of material bag under regular location status so that multiple material bags Continuously, neatly, accurately pile up in railway carriage, reach precisely efficient non-blind area entrucking purpose, and then realize that industrial production is transported The stability and high efficiency of Full automatic loading during defeated.

The utility model is achieved through the following technical solutions：A kind of rocker-arm automatic loading manipulator, and along railway carriage depth Guide rail that direction is set is supporting to be installed, including the main conveyor frame that is slidably mounted on guide rail and below main conveyor frame Mechanical arm, it is characterised in that：Also include the mechanical arm of connection main conveyor frame and built-in transmission mechanism and make mechanical arm in railway carriage It is interior to rise the slewing equipment lifted or horizontally rotated；The small frame of a rigid structure, and small machine is fixedly mounted in the mechanical arm discharging end Frame is connected by universal adjusting device with lower feed box.

In the utility model, the lower feed box for being mounted with material bag is lifted or the mobile quick movement of horizontal rotation with the liter of mechanical arm To specified location（Labeled as A points）, while lower feed box is quickly adjusted by universal adjusting device to currently assigned position（A points）It is right Unloading materials bag after the regular state answered, then, lower feed box is reloaded next material dropped from transmission mechanism discharging end Lower feed box is quickly moved to next specified location by bag, mechanical arm by small frame（Labeled as B points）, while lower feed box passes through Universal adjusting device is quickly adjusted to currently assigned position（B points）Unloading materials bag after corresponding regular state；By that analogy, from And realize it is automatic by material bag it is continuous, neat, accurately pile up the effect in railway carriage.In the utility model, the rule of lower feed box Whole location status refers to that lower feed box bottom plate is parallel with load carrying floor and lower feed box side plate is parallel with body side wall.

In the utility model, multiple material bags continuously enter transmission mechanism one by one from the feeding end of mechanical arm, and It is delivered to one by one by transmission mechanism in the lower feed box linked together by small frame and mechanical arm.In the utility model The position of lower feed box or state are multi-shaft interlocked results：

One is, main conveyor frame drives whole automatic loading manipulator along the front/rear rectilinear movement of track；

Two are, mechanical arm is risen in railway carriage under the driving of slewing equipment and lifted or water together by small frame with lower feed box Flat rotation；

Three are, lower feed box is by universal adjusting device in mechanical arm working end（That is the discharging end of transmission mechanism）Carry out narrow spacing From rectilinear movement regulation or horizontal deflection regulation or vertical tilt adjustment.

By above-mentioned multi-shaft interlocked, it is final realize it is automatic by material bag it is continuous, neat, accurately pile up the effect in railway carriage Really.

Specifically refer to：

When after the lorry of entrucking stops to specified entrucking region, its railway carriage is mechanical with automatic loading described in the utility model Hand position correspondence, according to information such as the railway carriage coordinate of identification, railway carriage physical dimensions, automatic loading manipulator is first passed through matches somebody with somebody with guide rail The main modulation frame that set is installed drives the executing agency of whole automatic loading manipulator to carry out or move ahead or retreat or be left along guide rail The position adjustments moved or moved to right, so as to from the position of generous Upward match lorry body, make main conveyer arm rise up into railway carriage simultaneously Positioned at railway carriage centre position（Apart from the railway carriage left and right sides, inwall is equal）；

Then, main conveyer arm is driven to rise act in railway carriage or horizontally rotate by slewing equipment, while being adjusted by universal The level angle of regulating device adjustment lower feed box or vertical inclination angle or the fine tuning of small range position, make the blanking of main conveyer arm working end Case reaches any given position in railway carriage；

Meanwhile, treat that the material packet stream ability of swimming of entrucking passes through the band conveyer on main conveyer arm its main conveyor frame Structure is delivered to working end, and is put in specified location progress stacking；When next material bag is delivered to working end, working end is Next specified location is moved under main modulation frame and the collective effect of slewing equipment, the stacking for carrying out the material bag is put, Reciprocating action successively, efficiently realizes that material bag neat, specification in railway carriage is piled up by design requirement.

In the utility model, realize the control systems of function such as working end station acquisition, driving drive device action with The executing agencies such as the main conveyer arm, slewing equipment, main modulation frame support the use, but main improvement of the present utility model It is executing agency and does not lie in control system, therefore control system is without repeating.

In order to preferably realize the utility model, further, the transmission mechanism includes band transmission drive device, active Roller, driven voller, conveyer belt, are driven by drive roll with transmission drive device and are arranged on drive roll, the conveyer belt on driven voller and turn The dynamic transport to realize material bag.

In order to preferably realize the utility model, further, the slewing equipment includes driving mechanical arm and rises movement work Liter lift governor motion and driving mechanical arm Level tune rotates the horizontal rotation governor motion of drift angle.

In order to preferably realize the utility model, further, the horizontal rotation governor motion includes and main conveyor Rotary rack, the row frame being rotatably connected with rotary rack and the servomotor for driving row frame to rotate that frame is connected as one；Institute Stating liter act governor motion includes the liter act rotary shaft be expert on frame and be hinged with mechanical arm is fixedly mounted, supports and drive mechanical arm Regulation rises the liter act drive device for lifting angle.

In order to preferably realize the utility model, further, the rotary rack includes time being fixedly connected with row frame The revolution wheel disc for turning body frame and being embedded in revolution body frame, the revolution body frame upper surface is provided with the servomotor, servo Motor via reducer is connected with being arranged on the driving gear drives of gyroscope wheel disk center, and the revolution wheel disc is close to drive gear Side is provided with the gear teeth and the gear teeth are engaged by multiple planetary gears with drive gear, and the planetary gear is solid by rotating shaft It is scheduled between revolution body frame and revolution wheel disc to drive revolution wheel disc to rotate relative to revolution body frame.

The revolution wheel disc that the rotary rack includes the revolution body frame being fixedly connected with row frame and is embedded in revolution body frame, The revolution body frame upper surface is provided with the servomotor, and servomotor is by reductor and is arranged on gyroscope wheel disk center Driving gear drives are connected, and drive gear side is provided with the gear teeth with the revolution wheel disc and the gear teeth pass through multiple planets Gear is engaged with drive gear, and the planetary gear is fixed between revolution body frame and revolution wheel disc to drive revolution by rotating shaft Wheel disc is rotated relative to revolution body frame.

It is further preferred that being provided with abut many between the revolution wheel disc excircle and revolution body frame inner periphery Individual stable steel ball.

Still further preferably, the planetary quantity is that the central angle between three and two neighboring planetary gear is 120°。

In order to be more beneficial for the conveying of material, yet further preferably, the feed device is included installed in charging aperture Roller feeding mechanism, and connect the conveyer belt feeding structure of the roller feeding structure and the mechanical arm.

In order to realize the smoothness of material conveying, it is preferable that the roller feeding structure includes the phase for transported material By chain drive between multiple rollers of mutual parallel installation, the roller, and roller connection positioned at termination is provided with power Feeding servomotor.

In order to preferably realize the utility model, further, the universal adjusting device includes driving lower feed box small Frame bearing of trend compensates mobile compensation adjustment device, drives the skew correction device of lower feed box transverse rotation amendment, drives Lower feed box vertically rotates the horizontal levelling device of leveling；The skew correction device, horizontal levelling device connect with lower feed box respectively Connect, horizontal levelling device is arranged on skew correction device, and skew correction device is arranged on compensation adjustment device, compensation adjustment The small frame connection of device and top.

The universal adjusting device includes compensation adjustment device, skew correction device, horizontal levelling device.The utility model In by the universal adjusting device that is mainly made up of compensation adjustment device, skew correction device, horizontal levelling device, realize blanking Case can be adjusted to regular state, i.e. lower feed box side plate and railway carriage when optional position unloads stacking to material bag in railway carriage Side wall is parallel, and lower feed box bottom plate is parallel with load carrying floor.

Whether lower feed box is in regular state, it is necessary to be detected and fed back to by each sensor in sensor cluster Control module, then analysis is calculated by control module：If lower feed box has been in the regular state of current location, without action；If Lower feed box is not in the regular state of current location, then needs to adjust lower feed box location status, control module output end is to compensation Drive device in adjusting means or skew correction device or horizontal levelling device sends control signal, drives compensation adjustment device Or the mechanical structure action performed in skew correction device or horizontal levelling device, realize that lower feed box location status is adjusted.

In the utility model, lower feed box is connected by compensation adjustment device with small frame, it is possible to achieve：Lower feed box is in machinery Compensation movement before and after the small range of arm working end, to adjust the distance between lower feed box and mechanical arm tail end body.On the one hand, it is mechanical When arm stablizes motionless, lower feed box realizes the adjustment of lower feed box a small range position, both relative to front and rear compensation movement in mechanical arm More neat, accurately stacking can be realized, mechanical arm can be reduced again and moves integrally frequency, position adjustments response is fast, simple in construction； On the other hand, mechanical arm is swung in vertical direction（I.e. mechanical arm working end is too high or reduces）When, the adjustment of lower feed box location status Stroke do not disturbed by mechanical arm body.That is, lower feed box can be made to be moved forward or rearward one by compensation adjustment device Set a distance, no matter whether mechanical arm acts, and is always ensured that proper when being dropped in transmission mechanism of the material bag from installed in mechanical arm Fall into lower feed box well, and the stroke of lower feed box location status adjustment is not disturbed by mechanical arm body.

In the utility model, pass through skew correction device transverse rotation lower feed box, it is possible to achieve：The horizontal rotation of lower feed box Turn, adjust to the lower feed box side plate regular state parallel with body side wall.Lower feed box is almost rectangular for one in the utility model Body.Therefore, lower feed box side plate is parallel with body side wall, specifically refers to：Left plate/the right plate and railway carriage left side wall of lower feed box/ Right side wall is parallel, or lower feed box front side board is parallel with railway carriage front side wall.Under this state, the material bag being loaded in lower feed box falls It is also parallel with body side wall when falling, thus ensure each material bag it is smooth vertical and horizontal drop to carry out neat stacking.

In the utility model, pass through the vertical rotary blanking box of horizontal levelling device, it is ensured that unloading materials bag makes material bag exist The bottom plate of lower feed box is parallel with carriage bottom plate when stacking is put in railway carriage, then loading manipulator carries out automatic loading to material bag When stacking is operated, substantially in the material bag of cuboid（It is box-packed or packed）It is basic with larger after freely falling body drops from lower feed box Floor or preposition material bag below contact surface contact, more steady when can make material bag stacking, neat, the thing of eminence pile Material bag is not easy to drop.

In order to preferably realize the utility model, further, the compensation adjustment device includes being fixedly mounted on small machine On frame compensation power set and installed in compensation power set output end compensation transmission component, compensation transmission component lower end with Lower feed box connects and drives lower feed box, connects the skew correction device of lower feed box, connects the horizontal levelling device of lower feed box together It is mobile.

In the utility model, the compensation transmission component is lead screw transmission component, Worm Wheel System component, rack-and-pinion It is any in transmission component, link transmission component, eccentric ratio transmission component, V belt translation component.

In order to preferably realize the utility model, further, the skew correction device includes amendment support frame, amendment Drive device and the amendment transmission device for being arranged on amendment drive device output end, amendment support frame include upper end and connected with small frame The support foundation that connects and the rotatable support for being rotatably connected on support foundation lower end, rotatable support bottom is consolidated with lower feed box Fixed connection, the amendment drive device on amendment support frame drives rotatable support to rotate with band by correcting transmission device Dynamic lower feed box carries out the amendment of angle excursion；Support foundation, rotatable support of the compensation adjustment device by interconnection Lower feed box is driven to move together.

In the utility model, the amendment transmission device includes the amendment wheel with amendment drive device drive connection, rotates It is provided with support member and takes turns the amendment groove that its outline matches with amendment.

In order to preferably realize the utility model, further, the horizontal levelling device includes leveling support frame, leveling Drive device and the leveling transmission device for being arranged on leveling drive device output end, leveling support frame include being arranged on deflection amendment Leveling pedestal on device and the leveling pivoted frame being hinged on below leveling pedestal, leveling pivoted frame bottom is fixed with lower feed box to be connected Connect, the leveling drive device on leveling support frame drives the rotation of leveling pivoted frame to drive blanking by leveling transmission device Case carries out lower feed box bottom plate and the regulation of the carriage bottom plate depth of parallelism.

In order to preferably realize the utility model, further, the lower feed box bottom plate sets opposite opened chamber door or pulled Formula chamber door；The opposite opened chamber door includes chamber door be made up of two door leafs, split open downwards, main, and lower feed box Left plate, a door operating gear for driving chamber door to open and close is set in the interlayer of right plate respectively；The door operating gear includes Open and close drive device and connection opens and closes the door linkage of drive device and chamber door；The door linkage includes being arranged on Open and close a primary push rod and two secondary push rods for being symmetricly set on primary push rod both sides for drive device output end, and a secondary push rod Correspondence is hinged a door leaf；Fixed in the middle part of the primary push rod with opening and closing drive device output end, primary push rod two ends be in cornice shape to Both sides extend and are hinged respectively with secondary push rod；The pull chamber door includes the chamber door for being arranged on lower feed box bottom plate, pulling sideways； The chamber door is whole board structure and chamber door is opened and closed by the sliding door drive device on lower feed box.

In order to preferably realize the utility model, further, in addition to detect lower feed box location status and drive blanking Case carries out the control system of location status regulation；The control system include be arranged on lower feed box on sensor cluster and The control module being connected with sensor cluster；The signal output part of the control module connects universal adjusting device and by universal Adjusting means performs the regulation action of lower feed box location status.

In order to preferably realize the utility model, further, the sensor cluster includes front end range sensor, height Spend range sensor, left side range sensor, right side range sensor and horizon sensor group；

The front end range sensor, is embedded on the foreboard of lower feed box foremost, for detecting lower feed box foreboard and car The distance between chamber interior wall；

The height distance sensor, in the back plate of lower feed box rearmost end, for detecting lower feed box bottom plate and car The distance between case floor；

The left side range sensor, in the back plate of lower feed box rearmost end, for detect lower feed box left plate with The distance between railway carriage inwall；

The right side range sensor, in the back plate of lower feed box rearmost end, for detect lower feed box right plate with The distance between railway carriage inwall；

The horizon sensor group, is embedded on the bottom plate of lower feed box bottom, for feeding back lower feed box bottom plate and railway carriage The depth of parallelism between floor.

In order to preferably realize the utility model, further, push-and-pull material bag is provided with the lower feed box to blanking The pusher of box wall；The pusher includes being fixed on the pusher drive device at the top of lower feed box and being arranged on Pusher drive device output end and the scraping wings for being located at blanking box cavity.

In order to preferably realize the utility model, further, the main conveyor structure includes setting holding for pulley mechanism Weight grid beam and two grades of box for feeding odd, the one-level box for feeding odd for being separately mounted to load-bearing grid beam lower end；The discharging opening of the one-level box for feeding odd It is flexibly connected with the charging aperture of two grades of box for feeding odd and is provided with material guiding mechanism between one-level box for feeding odd and two grades of box for feeding odd.

In the utility model, pusher may be such that the material being loaded in lower feed box packs tightly the madial wall of patch lower feed box （Left madial wall or Right Inboard wall）：On the one hand, pusher promotes material bag, material is packed tightly patch blanking box wall and drops, Can thus drop stacking close to body side wall, to make full use of railway carriage inner space；On the other hand, with a batch of all materials Bag same position from lower feed box drops, and is more beneficial for precise positioning and neat stacking.

In order to preferably realize the utility model, further, the pusher sets two groups of one-to-one pushers Drive device, scraping wings, and two groups of one-to-one pusher drive devices, scraping wings are to being staggered.

In the utility model, one group of corresponding pusher drive device, scraping wings can promote material bag left inside into lower feed box Side wall is moved and fitted；Meanwhile, another group of corresponding pusher drive device, scraping wings can promote material bag into lower feed box in the right side Side wall is moved and fitted.

The utility model compared with prior art, with advantages below and beneficial effect：

（1）Lower feed box is connected by universal adjusting device with the small frame installed on the robotic arm in the utility model, by Universal adjusting device control lower feed box carries out the regulation of lower discharge position and blanking angle, ensures lower feed box during automatic loading In material bag regular pile up in railway carriage；

（2）Universal adjusting device can be precisely controlled the action of lower feed box in the utility model, and the motion of cooperative mechanical arm can So that material bag from lower feed box with larger area it is steady, accurately drop to specified location, and then realize accurate stacking；

（3）Slewing equipment drives mechanical arm horizontal rotation adjustment or vertical lifting adjustment in the utility model.

（4）Lower feed box is mobile flexible under the driving of universal adjusting device in the utility model, quickly can reach in railway carriage The code discharge position being arbitrarily designated, the problem of effectively solving entrucking blind area, automatic loading efficiency high, railway carriage space availability ratio are high.

Brief description of the drawings

Fig. 1 is structural representation of the present utility model.

Fig. 2 is the structural representation of compensation adjustment device in the utility model.

Fig. 3 is structural representation when skew transmission device is lead screw transmission component in compensation adjustment device.

Fig. 4 is structural representation when skew transmission device is link transmission component in compensation adjustment device.

Fig. 5 is the structural representation that skew transmission device is when being inclined to link transmission component in compensation adjustment device.

Fig. 6 is structural representation when skew transmission device is scissor type telescopic component in compensation adjustment device.

Fig. 7 is the structural representation of skew correction device in the utility model.

Fig. 8 is the close-up schematic view at skew correction device A in Fig. 7.

Fig. 9 is the structural representation that skew correction device uses belt component to be driven.

Figure 10 is the structural representation of the utility model reclaimed water Heibei provincial opera leveling device.

Figure 11 is horizontal levelling device left view.

Figure 12 is that lower feed box inclination is view before horizontal leveling in horizontal levelling device.

Figure 13 is the structural representation of pusher in lower feed box.

The structural representation of door operating gear when Figure 14 uses opposite opened for chamber door in lower feed box.

Figure 15 uses the elevational schematic view during pull of side for chamber door in lower feed box.

Figure 16 is the structural representation of slewing equipment.

Figure 17 is the structural representation of horizontal rotation drive device.

Figure 18 is the internal structure schematic diagram of main conveying frame.

Wherein：1- main conveyor framves, 11- load-bearing grid beams, 12- one-level box for feeding odd, bis- grades of box for feeding odd of 13-, 2- slewing equipments, 21- rotary racks, 210- revolution wheel discs, 211- drive gears, 212- planetary gears, 215- revolution body frames, 22- row framves, 23- liters Rotary shaft is lifted, 24-, which rises, lifts drive device, 25- horizontal rotation drive devices, 3- transmission mechanisms, 4- mechanical arms, the small frames of 51-, 52- offsets power set, 501- leading screws, 502- sliding blocks, 503- support bases, 504- line slideway auxiliaries, the push rods of 511- first, 512- First pushing block, 513- narrow slots, 521- driving disks, the push rods of 522- second, the pushing blocks of 523- second, 531- fork arms, 532- the 3rd is pushed away Block, 541- amendment drive devices, 542- amendment support frames, 5421- support foundations, 5422- rotatable supports, 543- amendment transmissions Device, 5431- amendment wheels, 5432- belt components, 551- leveling drive devices, 552- leveling support frames, 5521- leveling pedestals, 5522- leveling pivoted frames, 553- leveling transmission devices, 5531- leveling driving wheels, 5532- leveling transmission reinforcements, 5533- hinged ears, 5534- spline coupling sleeves, 6- lower feed boxs, 61- chamber doors, 62- left plates, 63- right plates, 641- scraping wings, the driving of 642- pushers Device, 651- opens and closes drive device, 652- primary push rods, 653- pair push rods, 661- sliding door drive devices, 662- scissor-type connecting rods.

Embodiment

When automatic loading equipment carries out entrucking, general entrucking follows principle and is：From a lateral opposite side, from bottom to top, from Outward inside.For example：First the lateral opposite side close to headstock one end inside railway carriage piles up first layer material bag, then same Horizontally-arranged to carry out piling up for second layer material bag, this horizontally-arranged material bag is piled up after end, is displaced outwardly carrying out the second horizontally-arranged material bag Multilayer pile up, the like, complete all materials bags and pile up entrucking.

As shown in Fig. 3, Figure 10, due to the movement of mechanical arm 4 in the utility model be only limitted to horizontal direction linear motion, The swing of horizontal direction, the linear motion of vertical direction, the swing of vertical direction this four class, wherein：The straight line fortune of horizontal direction Move and refer to the advance of correspondence X/Y plane, retreat, move to left, moving to right；The swing of horizontal direction refers to the left-hand rotation of correspondence X/Y plane, the right side Turn；The linear motion of vertical direction refers to the rising of correspondence YZ planes, declined；The swing of vertical direction refers to correspondence YZ planes Upper rotation, backspin.

The utility model is described in further detail with reference to embodiment, but embodiment of the present utility model is not It is limited to this.

Embodiment 1：

A kind of rocker-arm automatic loading manipulator of the present embodiment, as shown in figure 1, including mechanical arm 4 and installed in machinery The lower feed box 6 of the discharging end of arm 4, it is characterised in that：The rigid structure being connected with lower feed box 6 is installed with the mechanical arm 4 Small frame 51, lower feed box 6 is connected by the universal adjusting device being arranged in small frame 51 with small frame 51；The mechanical arm Transmission mechanism is installed in 4, and the discharging end of transmission mechanism is correspondingly arranged with lower feed box 6.

The small frame 51 can play the guide effect during compensation movement of lower feed box 6, and lower feed box 6 and loading can be played again The auxiliary load-bearing effect of material bag in lower feed box 6.

In the present embodiment, the upper end of multiple material bag from mechanical arms 4 continuously enters transmission mechanism one by one, and by passing Transfer mechanism is delivered in the lower feed box 6 linked together by small frame 51 and mechanical arm 4 one by one.Mechanical arm 4 works End by the small frame 51 of rigid structure drive lower feed box 6 carry out together the linear motion of horizontal direction, the swing of horizontal direction, Any of swing of linear motion, vertical direction of vertical direction or multiple motions, meanwhile, universal adjusting device driving blanking Case 6 carries out universal adjustment, lower feed box 6 is adjusted to regular state when being located at optional position in railway carriage, so as to realize dress Continuous, accurate, the neat automatic loading palletization operations of car manipulator.

In the present embodiment, main executing agency mutually links：

The main conveyor frame 1, drives whole automatic loading manipulator together, along the front/rear linear motion of guide rail；

The slew gear 2, driving mechanical arm, small frame, lower feed box horizontally rotate swing together, while upper act or decline Regulation；

The small frame 51, extends, rigid structure is used for installed in the working end of mechanical arm 4 and to the bearing of trend of mechanical arm 4 Mechanical arm 4 and lower feed box 6 are connected as one and the lower feed box 6 of universal adjustment is supported and the material bag being loaded in lower feed box 6；

The universal adjusting device, is connected in small frame 51 and with lower feed box 6, for driving lower feed box 6 in machine The working end of tool arm 4 carries out the regulation of location status；

The mechanical arm 4, for driving lower feed box 6 to carry out action by a relatively large margin together by small frame 51；

The transmission mechanism 3, in mechanical arm 4, for by material bag one by one continuous conveying to lower feed box 6 In.

The lower feed box 6, is arranged on the small lower section of frame 51, for loaded material bag to specific bit by universal adjusting device Put and material bag is piled up with regular state.

The main conveyor frame 1, slew gear 2, transmission mechanism 3, mechanical arm 4, small frame 51, universal adjusting device, under Hopper 6, constitutes the major mechanical structure realized corresponding to material bag automatic loading stacking together.

Embodiment 2：

The present embodiment further discloses the structure of universal adjusting device.A kind of rocker-arm automatic loading manipulator, including machine Be connected with lower feed box 6 firm is installed with tool arm 4 and the lower feed box 6 installed in the discharging end of mechanical arm 4, the mechanical arm 4 The small frame 51 of property structure, lower feed box 6 is connected by the universal adjusting device being arranged in small frame 51 with small frame 51；It is described Transmission mechanism is installed in mechanical arm 4, and the discharging end of transmission mechanism is correspondingly arranged with lower feed box 6.

The universal adjusting device includes compensation adjustment device, skew correction device, horizontal levelling device.The utility model In by the universal adjusting device that is mainly made up of compensation adjustment device, skew correction device, horizontal levelling device, realize blanking Case 6 in railway carriage optional position to material bag unload stacking when, can adjust to regular state, the i.e. side plate of lower feed box 6 and railway carriage Madial wall is parallel, and the bottom plate of lower feed box 6 is parallel with load carrying floor.

As shown in Fig. 2 the compensation adjustment device includes the compensation power set and peace being fixedly mounted in small frame 51 Mounted in the compensation transmission component of compensation power set output end, compensation transmission component lower end is connected with lower feed box 6 and drives blanking Case 6, the skew correction device for connecting lower feed box 6, the horizontal levelling device of connection lower feed box 6 are moved together.

As shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, in the utility model, the compensation transmission component is lead screw transmission component, snail Appoint in worm and gear transmission component, rack pinion component, link transmission component, eccentric ratio transmission component, V belt translation component It is a kind of.

Power set 52 are compensated in the present embodiment lower feed box 6 is driven in small machine by the compensation transmission component in small frame 51 Movement is compensated in the range of frame 51；Small frame 51 undertakes lower feed box 6 and is loaded in the weight of material bag in lower feed box 6 simultaneously.Relatively Movement of the power set 52 by compensating transmission component driving lower feed box 6 is compensated in the movement of mechanical arm 4, the utility model is The micro movement of a small range.

When need to make during automatic loading stacking position from upper one it is horizontally-arranged to it is next horizontally-arranged mobile when：If mechanical arm 4 with The position of lower feed box 6 is relatively fixed, it is necessary to move mechanical arm 4 to realize movement that the correspondence code stack position of lower feed box 6 is put；According to this Structure described in embodiment, because the compensation that lower feed box 6 can carry out position with the body of relative mechanical arm 4 is moved, keeps machine Tool arm 4 is motionless, and only drives the compensation of lower feed box 6 mobile by compensating power set 52, compensation transmission component.

It is another, the mechanical arm 4 be one can level swing again can vertical lifting swing mechanical arm 4, machine The shaft core position that the level of tool arm 4 swings is constant, and blanking can be realized substantially by the regulation of the horizontal hunting angle of mechanical arm 4 The stacking position of case 6 moves to the action of railway carriage opposite side from railway carriage side：If mechanical arm 4 is relatively fixed with the position of lower feed box 6, blanking The actual motion track of case 6 is an arc and non-rectilinear, can cause that stacking is irregular, position is not accurate；According in the present embodiment The structure, because the compensation that lower feed box 6 can carry out position with the body of relative mechanical arm 4 is moved, under the drive of mechanical arm 4 During hopper 6 carries out transverse shifting, compensation power set 52, compensation transmission component drive lower feed box 6 to carry out small distance Compensation movement, you can ensure that stacking position is smooth vertical and horizontal, uniform.

In order that the compensation of lower feed box 6 is more stablized when mobile, transmission device is slidably connected with small frame 51.The transmission dress Put and be slidably connected one of mode with small frame 51 for pulley-type, i.e., set and set on slide rail or slideway and transmission device in small frame 51 Pulley corresponding with slide rail or slideway is put, pulley is rolled on slide rail or slideway during transmission device drives the movement of lower feed box 6 It is dynamic；It the two of mode is to set retainer, transmission device in ball-type, i.e., small frame 51 that transmission device and small frame 51, which are slidably connected, With the multiple ball contacts being arranged in retainer, ball rotation was both supported during transmission device drives the movement of lower feed box 6 Transmission device does not influence it to move again.

The track of carriage sliding end linear motion can be provided for further limiting in the small frame 51, also may be used It can be connected with the sliding end only by mechanical dimension's limit slippage device with the blanking device of lower section, again can be in small frame 51 Rectilinear movement.

The power set 52 are using servomotor as power source；The transmission device is lead screw transmission component.The servo The output shaft of motor is connected by shaft coupling with the leading screw 501 in lead screw transmission component.Socket and lower feed box on the leading screw 501 The sliding block 502 of 6 connections.

More stablize to further move lower feed box 6, one end of the support base 503 is fixed in small frame 51, The other end of support base 503 is installed and the supporting bearing of leading screw 501.This structure can improve the working strength of leading screw 501, preferably Ensure the stability of transmission.

More stablize to further move lower feed box 6, the cross section of the sliding block 502 is in " C " font, and support base 503 are provided with the chute matched with the exterior contour of sliding block 502.Chute is matched with cross section in the sliding block 502 of " C " font, " C " word Type docking structure can play guide effect, and load-bearing can be further aided in again, it is ensured that the stabilization of carriage its sliding end movement Property.On the one hand, " C " font docking structure contact area is big, and relative movement is more stablized；On the other hand, cross section is " C " font Sliding block 502 can be processed by way of first turning again flat surface grinding, processing cost is low；Also on the one hand, " C " font Sliding block 502 its plane convenient be fixedly connected with the lower feed box 6 of lower section.

More stablize to further move lower feed box 6, the sliding block 502 constitutes a ball-screw with leading screw 501 It is secondary.

More stablize to further move lower feed box 6, Auxiliary support lower feed box 64 is also set up in the small frame 51 Line slideway auxiliary 504；The line slideway auxiliary 504 includes the fixation guide rail being fixedly mounted in small frame 51 and is slidably installed Buffer sliding block on fixed guide rail, buffer sliding block both sides set limiting buffer block, the two ends of fixed guide rail be respectively provided with it is spacing The corresponding postive stop baffle in buffer stopper position.

As shown in Fig. 7, Fig. 8, Fig. 9, the skew correction device includes amendment support frame, amendment drive device and is arranged on Correct drive device output end amendment transmission device, amendment support frame include upper end be connected with small frame 51 support foundation, And the rotatable support of support foundation lower end is rotatably connected on, rotatable support bottom is fixedly connected with lower feed box 6, is arranged on Amendment drive device on amendment support frame drives rotatable support rotation to drive lower feed box 6 to carry out by correcting transmission device The amendment of angle excursion；The compensation adjustment device drives lower feed box 6 one by support foundation, the rotatable support of interconnection Play movement.

The skew correction device includes amendment support frame 542, amendment drive device 541 and is arranged on amendment drive device The amendment transmission device 543 of 541 output ends, amendment support frame 542 include upper end be connected with small frame 51 support foundation 5421, And the rotatable support 5422 of the lower end of support foundation 5421 is rotatably connected on, the bottom of rotatable support 5422 is consolidated with lower feed box 6 Fixed connection, the amendment drive device 541 on amendment support frame 542 drives rotational support by correcting transmission device 543 The amendment that part 5422 rotates to drive lower feed box 6 to carry out angle excursion.

Its body of amendment drive device 541 is fixed in the utility model, and amendment its output end of drive device 541 passes through amendment Transmission device 543 drives the left-right rotation in the horizontal direction of lower feed box 6.Its body of amendment drive device 541 can be directly anchored to In small frame 51, now lower feed box 6 is only capable of left-right rotation in the horizontal direction；Its body of amendment drive device 541 can also be fixed On the amendment support frame 542 being installed in small frame 51, now lower feed box 6 can not only left-right rotation can also be with the horizontal direction Amendment support frame 542 together in small frame 51 before and after/move left and right.

The amendment support frame 542 primarily serves connection, the effect of support.Correcting the top of support frame 542 is and small frame The support foundation 5421 of 51 connections, bottom is the rotatable support 5422 being connected with lower feed box 6, and support foundation 5421 is with rotating branch Support member 5422 is rotated and connected as one.Support foundation 5421 can be fixedly mounted in small frame 51, can also be slidably connected at In small frame 51.Rotatable support 5422 then drive below the left-right rotation in the horizontal direction of lower feed box 6.Whole amendment support frame 542 had both ensured that lower feed box 6 was connected as one with small frame 51, and did not limited the action of the left-right rotation of lower feed box 6.

In the present embodiment, the lower feed box 6 being connected by correcting support frame 542 with small frame 51 can be in amendment drive device 541st, the lower left-right rotation of amendment transmission device 543 effect, realizes deflection amendment.

The amendment transmission device 543 includes the amendment wheel 5431 being connected with amendment drive device 541, rotational support The amendment groove matched with amendment 5431 its outline of wheel is provided with part 5422.In the present embodiment, amendment wheel 5431 and amendment Channel profiles matching be exactly in order to be effectively driven, prevent skidding.

The amendment wheel 5431 is the corrected gear that outer ring sets the gear teeth, and amendment groove includes light groove and is fixedly mounted on light groove In amendment gear ring, amendment gear ring Internal periphery matched just with the outline of corrected gear.Enter in the form of gear is engaged Row transmission, it is ensured that transmission stability.And corrected gear directly can be purchased commercially, purchase standard component is conducive to control Equipment cost.

Certainly amendment wheel 5431 is not limited only to corrected gear, can also be other structures, for example：The horizontal stroke of amendment wheel 5431 Section is in cam-like or ellipticity or polygon-shaped.

The output end of the amendment drive device 541 is additionally provided with the dust cover covered on outside amendment transmission device 543.It is described Dust cover especially when carrying out automatic loading in dust such as cement bag, flour bags compared with overall situation, is effectively prevented for dust-proof Dust enters inside manipulator, can extension device service life.

Mechanical arm 4 is stretched into after railway carriage, and lower feed box 6 is moved to the position for treating code material, and now skew correction device drives down Left rotation and right rotation acts and enters line skew amendment hopper 6 in the horizontal direction, the side wall of lower feed box 6 and the side wall of railway carriage is put down all the time OK, the material bag that then welt is placed in lower feed box 6 freely falling body from lower feed box 6 vertically falls carry out stacking.In repetition Action is stated, what automatic loading manipulator can be multiple material bags are smooth vertical and horizontal, neat piles up the specified location in railway carriage.This knot Structure effectively solves the blind zone problem of automatic loading, while railway carriage space can be made full use of.

As shown in figure 9, skew correction device uses the structural representation that belt component is driven.

As shown in Figure 10, Figure 11, Figure 12, the horizontal levelling device includes leveling support frame, leveling drive device and set The leveling transmission device in leveling drive device output end is put, leveling support frame includes the leveling being arranged on skew correction device Pedestal and the leveling pivoted frame being hinged on below leveling pedestal, leveling pivoted frame bottom is fixedly connected with lower feed box 6, installed in tune Leveling drive device on flat support frame drives the rotation of leveling pivoted frame to drive lower feed box 6 to carry out blanking by leveling transmission device The bottom plate of case 6 and the regulation of the carriage bottom plate depth of parallelism.

The horizontal levelling device includes leveling support frame 552, leveling drive device 551 and is arranged on leveling drive device The leveling transmission device 553 of 551 output ends, leveling support frame 552 include upper end be connected with small frame 51 leveling pedestal 5521, And the leveling pivoted frame 5522 of the lower section of leveling pedestal 5521 is hinged on, the bottom of leveling pivoted frame 5522 is fixedly connected with lower feed box 6, is pacified Leveling drive device 551 on leveling support frame 552 by leveling transmission device 553 drive leveling pivoted frame 5522 to rotate with Lower feed box 6 is driven to carry out the bottom plate of lower feed box 6 and the regulation of the carriage bottom plate depth of parallelism.

In the present embodiment, as shown in figure 12, the inclination of lower feed box 6 is the state before horizontal leveling in horizontal levelling device.Adjust Flat drive device 551 drives lower feed box 6 to be rotated in vertical direction (correspondence YZ planes) by leveling transmission device 553, no matter machine Rotation or backspin on tool arm 4, the bottom plate of lower feed box 6 are parallel with the floor of railway carriage all the time.

In the present embodiment, leveling support frame 552 is connected with small frame 51 and lower feed box 6 respectively, both lower feed box 6 is passed through Small frame 51 is connected as one with mechanical arm 4, causes that lower feed box 6 can be with dexterous actions, regulating base board in the discharging end of mechanical arm 4 again With the gradient on floor.The leveling support frame 552 includes leveling pedestal 5521, the leveling pivoted frame 5522, leveling being hinged Pedestal 5521 is used to install leveling drive device 551 and connects small frame 51, and leveling pivoted frame 5522 is used to load lower feed box 6.Institute Lower feed box 6 and materials inside bag should be loaded by stating leveling pivoted frame 5522, not interfere lower feed box 6 again in the rotation of vertical direction. Described one end of leveling transmission device 553 is connected with the output end of leveling drive device 551, and the other end is connected with leveling pivoted frame 5522 And drive lower feed box 6 to rotate together by leveling pivoted frame 5522.

The leveling transmission device 553 includes the leveling driving wheel 5531 being connected with leveling drive device 551；It is described The top of leveling pivoted frame 5522 is provided with the leveling transmission reinforcement 5532 across lower feed box 6, leveling transmission reinforcement 5532 and set and leveling The hinged ear 5533 that frame is hinged；The leveling driving wheel 5531 drives lower feed box 6 in vertical side by leveling transmission reinforcement 5532 To rotation.

Intermeshing driving cog is set respectively on the outline and leveling transmission reinforcement 5532 of the leveling driving wheel 5531.

The driving cog is straight-tooth or helical teeth.

It is driven in the present embodiment by driving cog, it is steady that transmission process is difficult skidding, transmission efficiency, service behaviour It is fixed.In whole system running, the operation stability of whole mechanical arm 4 can be ensured.

The leveling driving wheel 5531 and the output shaft of leveling drive device 551 are directly connected to by key, or leveling is driven Driving wheel 5531 and the output shaft of leveling drive device 551 are connected by adaptor.The adaptor is to be connected by key Connect the spline coupling sleeve 5534 installed in its output shaft of leveling drive device 551, and spline coupling sleeve 5534, leveling driving wheel The external splines of spline connection is set respectively on 5531.

The performance of servomotor can influence to can select the MR-E systems of Mitsubishi in the mobile precision of compensation, the present embodiment Row, MR-J series, fast response time, control accuracy are high, stable.Certainly, can be with optional with technology development and progress Servomotor that can be more excellent.

The other parts of the present embodiment are same as Example 1, therefore repeat no more.

Embodiment 3：

The present embodiment does further optimization on the basis of embodiment 1 or 2, as shown in figure 1, a kind of rocker-arm automatic loading Manipulator, including mechanical arm 4, the lower feed box 6 installed in the discharging end of mechanical arm 4, and detect the location status of lower feed box 6 and drive down Hopper 6 carries out the control system of location status regulation.The rigidity knot being connected with lower feed box 6 is installed with the mechanical arm 4 The small frame 51 of structure, lower feed box 6 is connected by the universal adjusting device being arranged in small frame 51 with small frame 51；The machinery Transmission mechanism is installed in arm 4, and the discharging end of transmission mechanism is correspondingly arranged with lower feed box 6.

The control system includes the sensor cluster being arranged on lower feed box 6 and the control being connected with sensor cluster Molding block；The signal output part connection universal adjusting device of the control module simultaneously performs lower feed box 6 by universal adjusting device The regulation action of location status.Sensor cluster, control module composition realize material bag automatic loading code in the control system Major control structure corresponding to pile.

In the present embodiment, the front end range sensor, height distance sensor, left side range sensor, right side distance Sensor is range sensor.In the present embodiment, horizon sensor group can be two range sensor compositions, or One horizontal gyro.

When horizon sensor group is two range sensor compositions, two range sensors detect measurement point and railway carriage Distance between floor：If two range sensor fitting depths are identical, when the two values detected are identical, the bottom of lower feed box 6 Plate is parallel with load carrying floor；If two range sensor fitting depth differences are △ h, the two values detected are met with △ h During corresponding relation, the bottom plate of lower feed box 6 is parallel with load carrying floor.Simple numerical relation, the existing and non-practicality of its operation principle New improvement, therefore repeat no more.

When horizon sensor group is a horizontal gyro, load carrying floor is consistent with the inclination angle that horizontal gyro is measured When, the bottom plate of lower feed box 6 is parallel with load carrying floor.Simple numerical relation, its operation principle is existing and non-of the present utility model changes Enter a little, therefore repeat no more.

The front end range sensor, height distance sensor, left side range sensor, right side range sensor and level Sensor group gathered data simultaneously feeds back to control module, data are analyzed and processed by control module and control instruction hair Send.

The output end of the control module connects supplement drive device in compensation adjustment device, skew correction device respectively In amendment drive device, the leveling drive device in horizontal levelling device.The supplement drive device is by supplementing transmission group Part drives lower feed box 6 to carry out straight line supplement movement.The amendment drive device drives lower feed box 6 to carry out by skew correction device Deflection corrective action.The horizontal levelling device drives the horizontal leveling action of the carry out of lower feed box 6 by horizontal levelling device.

The other parts of the present embodiment are same as the previously described embodiments, therefore repeat no more.

Embodiment 4：

The present embodiment is done further on the basis of any one of embodiment 1,2,3 to the pusher being arranged in lower feed box 6 Push-and-pull material bag is provided with to the pusher of the madial wall of lower feed box 6 in optimization, the lower feed box 6；The pusher includes It is fixed on the pusher drive device 642 at the top of lower feed box 6 and installed in the output end of pusher drive device 642 and positioned at blanking The scraping wings 641 of the inner chamber of case 6.The material bag for setting 641 pairs of a scraping wings to enter lower feed box 6, which carries out a left side, which to be pushed away, can make material bag It is close to the inwall of the left plate 62 of lower feed box 6, similarly, the material bag that 641 pairs of a scraping wings enters lower feed box 6 carries out the right side and pushed away Material is set to pack tightly the inwall of the patch right plate 63 of lower feed box 6.

As shown in figure 13, further, in order to improve push pedal operating efficiency, two groups of the pusher setting is one-to-one Pusher drive device 642, scraping wings 641, and two groups of one-to-one pusher drive devices 642,641 pairs of scraping wings are to staggeredly setting Put.

The other parts of the present embodiment are identical with any one of embodiment 1-3, therefore repeat no more.

Embodiment 5：

The present embodiment does further optimization on the basis of embodiment any one of 1-4, as shown in figure 14, the bottom of lower feed box 6 Plate opens up chamber door 61 be made up of two door leafs, split open downwards, main, and left plate 62, the right plate of lower feed box 6 One door operating gear for driving chamber door 61 to open and close is set respectively in 63 interlayer；The door operating gear includes opening and closing drive device 651 and connection open and close the door linkage of drive device 651 and chamber door 61；The door linkage, which includes being arranged on, to be opened and closed One primary push rod 652 of the output end of drive device 651 and two secondary push rods 653 for being symmetricly set on the both sides of primary push rod 652, and one The individual correspondence of secondary push rod 653 is hinged a door leaf；The middle part of primary push rod 652 is fixed with opening and closing the output end of drive device 651, is promoted mainly The two ends of bar 652 extend to both sides in cornice shape and are hinged respectively with secondary push rod 653.

The chamber door 61 uses opposite opened structure, opens and closes drive device 651 and drives two door leafs same by door linkage When open, material bag drops in lower feed box 6, and position of dropping is accurate and drop is small when dropping, material bag-like state is steady.

The left plate 62 of lower feed box 6, right plate 63 are hollow structure in the present embodiment, and left plate 62, right plate 63 are equal There is inner and outer wall, and door operating gear is arranged in hollow structure.

In the present embodiment open and close drive device 651 can be it is electronic can also be it is pneumatic, open and close drive device 651 output Hold and drive door leaf to act by primary push rod 652, the two symmetrically arranged secondary push rods 653 for constituting linkage, when door leaf is closed The weight of material bag can effectively be born；Door leaf is rapid, smooth when opening, simple in construction and efficient.

The other parts of the present embodiment are identical with any one of embodiment 1-4, therefore repeat no more.

Embodiment 6：

The present embodiment does further optimization on the basis of embodiment any one of 1-4, and the bottom plate of lower feed box 6 sets one side The chamber door 61 of pull；The chamber door 61 is whole board structure and chamber door 61 passes through the sliding door drive device on lower feed box 6 661 open and close.The doorframe of the bottom plate of lower feed box 6 is higher than the surface of chamber door 61, and the effect of stop is packaged to material.

As shown in figure 15, the chamber door 61 uses side pull structure, and chamber door 61 is a whole plate.Chamber door 61 is opened When, sliding door drive device 661 directly outwards extracts chamber door 61 out；When chamber door 61 is closed, sliding door drive device 661 drives chamber door 61 Inwardly turn back to.This structure can fully save the space of short transverse relative to opposite opened structure, high when being more suitable for code material Degree has the occasion more strictly limited.

Further, in order that the structure of this loading manipulator is compacter, sliding door drive device 661 is arranged on blanking On the rear board of case 6, that is, drive device 661 of pulling is arranged on lower feed box 6 close to the side of mechanical arm 4.During using this structure, chamber door 61 From close to the side closure or openness of mechanical arm 4.

Further, the output end of sliding door drive device 661 is also connected with a scissor-type connecting rod 662, drive device 661 of pulling Chamber door 61 is driven to open and close by scissor-type connecting rod 662.The sliding door drive device 661 uses electrical pushing cylinder, scissor-type connecting rod 662 1 End is arranged on electrical pushing cylinder output shaft.

Further, chamber door 61 and the supporting installation of the door slide rail for being arranged on the bottom of lower feed box 6.The end of the door slide rail is also It is provided with the anti-drop block for preventing that chamber door 61 from undesirably falling off.The chamber door 61 is stable by the door slide rail for being arranged on the bottom of lower feed box 6 Slide, and limited by anti-drop block without surprisingly coming off.

Embodiment 7：

As shown in Figure 16,17, the present embodiment does further optimization, the revolution dress on the basis of embodiment any one of 1-6 Put the level rotation that the 2 liter act governor motions and driving mechanical arm 4 Level tune for including 4 liters of movements works of driving mechanical arm rotate drift angle Turn governor motion.

The horizontal rotation governor motion includes rotary rack 21 and the turn-around machine connected as one with main conveyor frame 1 The row frame 22 of the rotatable connection of frame 21 and the horizontal rotation drive device 25 for driving row frame 22 to rotate；Described rise lifts governor motion bag Include and the liter act rotary shaft 23 be expert on frame 22 and be hinged with mechanical arm 4 is fixedly mounted, support and drive the regulation of mechanical arm 4 to rise and lift angle The liter of degree lifts drive device 24.

The rotary rack 21 includes the revolution body frame 215 being fixedly connected with row frame 22 and is embedded in revolution body frame 215 Revolution wheel disc 210, revolution body frame 215 upper surface is provided with the horizontal rotation drive device 25, horizontal rotation driving Device 25 passes through reductor and the drive connection of drive gear 211 for being arranged on revolution wheel disc 210 center, the revolution wheel disc 210 The side of drive gear 211 is provided with the gear teeth and the gear teeth are engaged by multiple planetary gears 212 with drive gear 211, The planetary gear 212 is fixed between revolution body frame 215 and revolution wheel disc 210 to drive the revolution phase of wheel disc 210 by rotating shaft Revolution body frame 215 is rotated.

In the present embodiment, material conveying process is：Material is excluded from production equipment, or packaging facilities, by existing Any transporter material is sent into main conveyor structure 1, by the conveying and adjustment of main conveyor structure 1, material was according to both Determine direction from main conveyor structure 1 to deviate from and drop on the transmission mechanism 3 of mechanical arm 4, pass through the transmission of transmission mechanism 3, thing Material bag moves to lower feed box 6 along the length direction of mechanical arm 4 and final discharging is piled up in railway carriage.

Secondly, the utility model to material when carrying out stacking, inevitably according to the position of actual material stacking To mechanical arm 4, its working end (installing at lower feed box) is adjusted, including mechanical arm 4 highly adjusts the tune with horizontal level Section.When the physical distribution terminal car for different splendid attires and transported material, the container height of its vehicle is inconsistent, it is necessary to machine The height of the working end of tool arm 4 carries out the regulation of adaptability, to meet required height, preferably carries out stacking assembling to material.

The method and principle that the working end of mechanical arm 4 is highly adjusted are as follows：Because one end of mechanical arm 4 passes through a liter act rotary shaft 23 are hinged with row frame 22, and act drive device 24 two ends that rise are directly connected to mechanical arm 4 and rotary rack 21, when a liter act driving dress 24 are put when being extended or shortening is acted, the working end of mechanical arm 4 then realizes that rise/fall is acted accordingly, so as to realize The regulation of the height of mechanical arm 4, the problem of meeting different railway carriage height.

Be worth explanation when, drive it is described rise lift drive device 24 hydraulic power source, such as hydraulic pump, hydraulic oil pipe, control Controller of hydraulic pump works etc. can be arranged on any position for not influenceing mechanical arm 4 to work, due to machine described in the utility model The improvement of tool arm is not on hydraulic mechanism or hydraulic system, therefore, can be adopted for the part that hydraulic pressure is not expressly mentioned With prior art, so be not described in detail in the present embodiment.

Finally, when needing the vehicle fleet size for carrying out material stacking more, such as many lorries wait the feelings of entrucking side by side Condition, truck vehicle is typically, using mechanical arm base as the center of circle, to carry out fan-shaped stop.In the scenario above, mechanical arm 4 is filled in stacking Can ceaselessly it be rotated during car, to transport material in different lorry bodies.Mechanical arm 4 is in the level of progress During rotation, its operation principle is as follows：Horizontal rotation drive device 25 transfers power to rotary rack 21 after being powered, and makes turn-around machine Frame 21 is rotated, so as to adjust the rotation of mechanical arm 4, the rotating of mechanical arm 4 is i.e. by horizontally rotating drive device 25 Rotating is controlled.

The other parts of the present embodiment are identical with any one of embodiment 1-6, therefore repeat no more.

Embodiment 8：

The present embodiment does further optimization on the basis of embodiment any one of 1-7, as shown in figure 18, the main conveyor structure 1 includes setting the load-bearing grid beam 11 of pulley mechanism to be separately mounted to two grades of box for feeding odd 13 of the lower end of load-bearing grid beam 11, one-level feeding Case 12；The discharging opening of the one-level box for feeding odd 12 is flexibly connected and one-level box for feeding odd 12 and two with the charging aperture of two grades of box for feeding odd 13 Material guiding mechanism is provided between level box for feeding odd 13.

The other parts of the present embodiment are identical with any one of embodiment 1-7, therefore repeat no more.

It is described above, only it is preferred embodiment of the present utility model, any formal limit is not done to the utility model System, every any simple modification made according to technical spirit of the present utility model to above example, equivalent variations are each fallen within Within protection domain of the present utility model.

Claims

1. a kind of rocker-arm automatic loading manipulator, with the guide rail set along railway carriage depth direction（001）It is supporting to install, including cunning It is dynamic to be arranged on guide rail（001）On main conveyor frame（1）With positioned at main conveyor frame（1）The mechanical arm of lower section（4）, its feature exists In：Also include connection main conveyor frame（1）With the mechanical arm of built-in transmission mechanism（4）And make mechanical arm（4）Rise and lift in railway carriage Or the slewing equipment of horizontal rotation（2）；The mechanical arm（4）The small frame of a rigid structure is fixedly mounted in discharging end（51）, and Small frame（51）Pass through universal adjusting device and lower feed box（6）Connection.

2. a kind of rocker-arm automatic loading manipulator according to claim 1, it is characterised in that：The slewing equipment（2） Including driving mechanical arm（4）Rise liter act governor motion and driving mechanical arm that movement is made（4）Level tune rotates the level of drift angle Rotation regulating mechanism.

3. a kind of rocker-arm automatic loading manipulator according to claim 2, it is characterised in that：The horizontal rotation regulation Mechanism includes and main conveyor frame（1）The rotary rack connected as one（21）With rotary rack（21）The row frame of rotatable connection （22）And drive row frame（22）The horizontal rotation drive device of rotation（25）；Described rise lifts governor motion including being fixedly mounted on Row frame（22）Upper and and mechanical arm（4）The liter being hinged lifts rotary shaft（23）, support and drive mechanical arm（4）Regulation, which rises, lifts angle Rise and lift drive device（24）.

4. a kind of rocker-arm automatic loading manipulator according to claim 3, it is characterised in that：The rotary rack（21） Including with row frame（22）The revolution body frame being fixedly connected（215）Be embedded in revolution body frame（215）Interior revolution wheel disc（210）, The revolution body frame（215）Upper surface is provided with the horizontal rotation drive device（25）, horizontally rotate drive device（25）It is logical Cross reductor and be arranged on revolution wheel disc（210）The drive gear at center（211）Drive connection, the revolution wheel disc（210）Lean on Nearly drive gear（211）Side is provided with the gear teeth and the gear teeth pass through multiple planetary gears（212）With drive gear（211）Nibble Close, the planetary gear（212）Revolution body frame is fixed on by rotating shaft（215）With revolution wheel disc（210）Between to drive revolution Wheel disc（210）Relative revolution body frame（215）Rotate.

5. a kind of rocker-arm automatic loading manipulator according to claim any one of 1-4, it is characterised in that：It is described universal Adjusting means includes driving lower feed box（6）In small frame（51）Bearing of trend compensates mobile compensation adjustment device, drives blanking Case（6）The skew correction device of transverse rotation amendment, drive lower feed box（6）The horizontal levelling device of vertical rotation leveling；It is described Skew correction device, horizontal levelling device respectively with lower feed box（6）Connection, horizontal levelling device is arranged on skew correction device On, skew correction device is arranged on compensation adjustment device, the small frame of compensation adjustment device and top（51）Connection.

6. a kind of rocker-arm automatic loading manipulator according to claim any one of 1-4, it is characterised in that：The blanking Case（6）Bottom plate sets opposite opened chamber door or pull chamber door；The opposite opened chamber door includes opening downwards, main by two doors Page composition, split chamber door（61）, and lower feed box（6）Left plate（62）, right plate（63）Interlayer in set one respectively Drive chamber door（61）The door operating gear of keying；The door operating gear includes opening and closing drive device（651）And connection is opened and closed Drive device（651）With chamber door（61）Door linkage；The door linkage, which includes being arranged on, opens and closes drive device（651） One primary push rod of output end（652）Primary push rod is symmetricly set on two（652）The secondary push rod of both sides（653）, and a pair Push rod（653）Correspondence is hinged a door leaf；The primary push rod（652）Middle part is with opening and closing drive device（651）Output end is fixed, main Push rod（652）Two ends in cornice shape to both sides extend and respectively with secondary push rod（653）It is hinged；The pull chamber door includes setting In lower feed box（6）Bottom plate, the chamber door pulled sideways（61）；The chamber door（61）For whole board structure and chamber door（61）By installed in Lower feed box（6）On sliding door drive device（661）Open and close.

7. a kind of rocker-arm automatic loading manipulator according to claim any one of 1-4, it is characterised in that：Also include inspection Survey lower feed box（6）Location status simultaneously drives lower feed box（6）Carry out the control system of location status regulation；The control system includes Installed in lower feed box（6）On sensor cluster and the control module that is connected with sensor cluster；The letter of the control module Number output end connection universal adjusting device simultaneously performs lower feed box by universal adjusting device（6）The regulation action of location status.

8. a kind of rocker-arm automatic loading manipulator according to claim 7, it is characterised in that：The sensor cluster bag Include front end range sensor, height distance sensor, left side range sensor, right side range sensor and horizon sensor group；

The front end range sensor, is embedded in lower feed box（6）On foreboard foremost, for detecting lower feed box（6）Foreboard with The distance between railway carriage inwall；

The height distance sensor, installed in lower feed box（6）In the back plate of rearmost end, for detecting lower feed box（6）Bottom plate with The distance between load carrying floor；

The left side range sensor, installed in lower feed box（6）In the back plate of rearmost end, for detecting lower feed box（6）Left plate （62）The distance between with railway carriage inwall；

The right side range sensor, installed in lower feed box（6）In the back plate of rearmost end, for detecting lower feed box（6）Right plate （63）The distance between with railway carriage inwall；

The horizon sensor group, is embedded in lower feed box（6）On the bottom plate of bottom, for feeding back lower feed box（6）Bottom plate and car The depth of parallelism between case floor.

9. a kind of rocker-arm automatic loading manipulator according to claim any one of 1-4, it is characterised in that：The blanking Case（6）Push-and-pull material bag is inside provided with to lower feed box（6）The pusher of madial wall；The pusher includes being fixed on blanking Case（6）The pusher drive device at top（642）And installed in pusher drive device（642）Output end and positioned at lower feed box（6） The scraping wings of inner chamber（641）.

10. a kind of rocker-arm automatic loading manipulator according to claim any one of 1-4, it is characterised in that：The master Conveying frame（1）Load-bearing grid beam including setting pulley mechanism（11）Be separately mounted to load-bearing grid beam（11）Two grades of lower end are sent Hopper（13）, one-level box for feeding odd（12）；The one-level box for feeding odd（12）Discharging opening and two grades of box for feeding odd（13）Charging aperture live Dynamic connection and one-level box for feeding odd（12）With two grades of box for feeding odd（13）Between be provided with material guiding mechanism.