CN206654554U - A kind of intelligent loading system - Google Patents
A kind of intelligent loading system Download PDFInfo
- Publication number
- CN206654554U CN206654554U CN201720277013.2U CN201720277013U CN206654554U CN 206654554 U CN206654554 U CN 206654554U CN 201720277013 U CN201720277013 U CN 201720277013U CN 206654554 U CN206654554 U CN 206654554U
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- China
- Prior art keywords
- finger
- stacking
- rocking arm
- rocker arm
- entrucking
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Abstract
A kind of intelligent loading system,Including hoistable platform,Belt conveyer,De-stacking cart,De-stacking dolly,Entrucking cart,Entrucking dolly and supporting steel frame,By control unit,Loading manipulator and de-stacking manipulator are formed,Hoistable platform is arranged on the left front lower middle part of supporting steel frame,Under belt conveyer is arranged in the middle part of supporting steel frame,De-stacking cart is arranged on supporting steel frame left part front and back end,De-stacking dolly is arranged on de-stacking cart,De-stacking manipulator is arranged on de-stacking dolly bottom,Entrucking cart is arranged on supporting steel frame right part left and right ends,Entrucking dolly is arranged on entrucking cart,Loading manipulator is arranged under entrucking dolly,PLC power inputs connect with 24V dc sources,PIC control signal outputs are respectively through relay,Servo-driver and hoistable platform,Belt conveyer,De-stacking cart,De-stacking dolly,Entrucking cart,Entrucking dolly,De-stacking manipulator,The power input connection of loading machine on hand.This new reduction expenditure, manpower is saved, automation can be realized.
Description
Technical field
Automation equipment field is the utility model is related to, is particularly acted on by associated mechanisms, it is possible to achieve factory is packed
The unmanned de-stacking of product, a kind of intelligent loading system of entrucking stacking.
Background technology
At present, in known industrial circle, lorry is loaded entering to be about to bagged product (such as cement, feed, chemical fertilizer etc.)
It is that this entrucking mode is deposited using manually being piled up one bag of bagged product one bag in boxcar during stacking process
Following several respects the shortcomings that：First, it is necessary to personnel it is more, transport, de-stacking, pile up operation and generally require 4~6 people, factory can be given
Side brings more expenses to pay, and causes the waste of human resources；Second, entrucking personnel's work working strength is big during operation；The
Three, working environment is poor, and when particularly piling up such as cement products, dust is big, working site is dirtier；4th, it is individualized piling up
Work raw material, because it has certain harmful substance, this work of long campaigns can have a negative impact to health.
Utility model content
In order to overcome in existing industrial circle, load lorry entering to be about to bagged product (such as cement, feed, chemical fertilizer etc.)
During stacking process, it is using manually being piled up one bag of bagged product one bag in boxcar, thereby results in manufacturer's expense
Increased with expenditure, waste of human resource, entrucking personnel's work working strength is big during operation, and working environment is poor, long campaigns this
The drawbacks of work can have a negative impact to health, the utility model provides to be acted on by associated mechanisms, it is possible to achieve
The unmanned de-stacking of factory's bagged product, a kind of intelligent loading system of entrucking stacking.
Technical scheme is used by the utility model solves its technical problem：
A kind of intelligent loading system, including hoistable platform, belt conveyer, de-stacking cart, de-stacking dolly, entrucking cart,
Entrucking dolly and supporting steel frame, de-stacking cart, entrucking cart, entrucking dolly, de-stacking dolly are the walking derricking gears in system,
Respectively there is one group of movement prypole on entrucking dolly, de-stacking dolly, entrucking dolly, de-stacking dolly lifting power output gear can make shifting
Dynamic prypole moves up and down starting parcel, it is characterised in that is made up of, controls control unit, loading manipulator and de-stacking manipulator
Unit is PLC, and model is DVP10MC11T, and de-stacking manipulator is consistent with loading manipulator construction, and hoistable platform is arranged on support
In the middle part of the left front lower end of steelframe, belt conveyer is arranged on lower end in the middle part of supporting steel frame, and de-stacking cart is arranged on supporting steel frame left part
On rear and front end, de-stacking dolly is arranged on two guide rails being longitudinally arranged on de-stacking cart, after installing, de-stacking cart bottom
The wheel at both ends is laterally positioned on the guide rail of supporting steel frame left part rear and front end respectively, and the wheel of de-stacking dolly bottom is longitudinally located at
On two guide rails being longitudinally arranged on de-stacking cart, de-stacking manipulator is arranged under de-stacking dolly derricking gear movement prypole
Portion, the wheel of de-stacking cart can drive the side-to-side movement on the guide rail of supporting steel frame left part rear and front end of de-stacking dolly, and de-stacking is small
Car wheel can be driven and be moved forward and backward on two guide rails that de-stacking manipulator is longitudinally arranged on de-stacking cart, and entrucking cart is arranged on
Supporting steel frame right part left and right ends, entrucking dolly is arranged on entrucking cart on two guide rails of lateral arrangement, after installing, dress
Longitudinal direction is on the guide rail of supporting steel frame right part left and right ends respectively for the wheel at car cart bottom both ends, the car of entrucking dolly bottom
Wheel is laterally positioned on two guide rails being longitudinally arranged on entrucking cart, and loading manipulator moves installed in entrucking dolly derricking gear
The bottom of prypole, the wheel of entrucking cart can drive entrucking dolly front and rear fortune on the guide rail of supporting steel frame right part left and right ends
Dynamic, entrucking car wheel can drive loading manipulator side-to-side movement on two guide rails of lateral arrangement on entrucking cart, loading
Automobile is located at the lower end of supporting steel frame right part, and PLC power inputs are connected with 24V dc sources by wire, PIC first,
Second, the 3rd, the 4th, the 5th, the 6th control signal output drive through two relays and four servos respectively
Dynamic device, the work of control input to hoistable platform, belt conveyer, de-stacking cart, de-stacking dolly, entrucking cart, entrucking dolly
Power supply, PIC the 7th, the 8th, the 9th control signal output respectively through two relays and a servo-driver, control
Working power of the system input to de-stacking machinery on hand, PIC the tenth, the 11st, the 12nd control signal output difference
Through two relays and a servo-driver, the working power of control input to loading machine on hand.
The de-stacking manipulator, loading manipulator are respectively by driving gear, main motor, turnabout gear, turnabout gear support shaft
Hold mechanism, main installing plate, lower supporting plate, Suction cup assembly installing plate, rocking arm installing plate, finger rocker arm assembly, finger rocking arm cylinder,
Suction cup assembly is formed, and main motor is arranged on the main motor installing plate of main installing plate upper end, and it is defeated that driving gear is arranged on main motor
On shaft, turnabout gear is arranged in turnabout gear spring bearing mechanism, and turnabout gear spring bearing mechanism is arranged on main installation
On plate, main motor installing plate is arranged on main installing plate top, and Suction cup assembly installing plate is arranged on main installation by 4 vertical columns
Below plate, rocking arm installing plate has four, is separately mounted to lower supporting plate all around two, finger rocker arm assembly has identical two
Set, often covers and is made up of rocking arm, rocking arm spring bearing mechanism, transverse axis bar, connecting rod, linking arm, striker plate, finger mechanism, often cover hand
Referring to the rocking arm spring bearing mechanism of rocker arm assembly has two, two rocking arm spring bearing mechanisms peace of first set finger rocker arm assembly
Mounted in the inner side of two rocking arm installing plate perforates of lower supporting plate left part, two rocking arm spring bearings of second set of finger rocker arm assembly
Mechanism is arranged on the inside of the perforate of two rocking arm installing plates of lower supporting plate right part, before and after the transverse axis bar of first set finger rocker arm assembly
Two parts not An Zhuan in two rocking arm spring bearing mechanisms of first set finger rocker arm assembly, second set of finger rocker arm assembly
Two parts An Zhuan not be in two rocking arm spring bearing mechanisms of second set of finger rocker arm assembly before and after transverse axis bar, first set finger
Rocking arm, the linking arm of rocker arm assembly are separately mounted on the transverse axis bar rear and front end of first set finger rocker arm assembly, second set of hand
Linking arm, the rocking arm for referring to rocker arm assembly are separately mounted on the transverse axis bar rear and front end of second set of finger rocker arm assembly, first set
The connecting rod rear and front end of finger rocker arm assembly is separately mounted to the rocking arm of first set finger rocker arm assembly, in the middle part of linking arm on, the
The connecting rod rear and front end of two sets of finger rocker arm assemblies is separately mounted to the linking arm of second set of finger rocker arm assembly, rocking arm middle part
On, the striker plate rear and front end of first set finger rocker arm assembly is separately mounted to the rocking arm of first set finger rocker arm assembly, connection
On arm bottom, the striker plate rear and front end of second set of finger rocker arm assembly is separately mounted to the connection of second set of finger rocker arm assembly
On arm, rocking arm bottom, the finger mechanism for often covering finger rocker arm assembly is made up of eight inflexed metallic rods, curved in every
There is a gum cover metallic rod front end, and the finger mechanism of first set finger rocker arm assembly is separately mounted to first set finger from front to back
Below the striker plate of rocker arm assembly, the finger mechanism of second set of finger rocker arm assembly is separately mounted to second set of finger from front to back
Below the striker plate of rocker arm assembly, finger rocking arm cylinder has two sets, and finger rocking arm cylinder is Electrohydraulic push rod, first set finger rocking arm
Cylinder is arranged on the upper end of first lower supporting plate, and the plunger front end of first set finger rocking arm cylinder is shaken installed in first set finger
In the rocking arm upper end perforate of arm component, second set of finger rocking arm cylinder is arranged on the upper end of second lower supporting plate, second set of hand
The plunger front end for referring to rocking arm cylinder is arranged in the rocking arm upper end perforate of second set of finger rocker arm assembly, and Suction cup assembly is connected by buffering
Extension bar, sucker, sealing sponge and aerofoil fan composition, aerofoil fan suction pipe are arranged in the perforate of sucker upper end, four suckers
Buffering connecting rod bottom is separately mounted to sucker upper end surrounding, and four sucker buffering connecting rod tops are separately mounted to Suction cup assembly
The corner of installing plate, sealing sponge are arranged on the surrounding of sucker suction inlet, and the main motor installing plate upper end of de-stacking manipulator is arranged on
The bottom of derricking gear movement prypole on the right side of de-stacking trolley platform casing, the main motor installing plate upper end peace of loading manipulator
Mounted in the bottom of derricking gear movement prypole on the right side of entrucking trolley platform casing.
The de-stacking manipulator, the main motor of loading manipulator are arranged on the main motor installing plate of main installing plate upper end,
Driving gear is arranged on main motor output shaft, and turnabout gear is arranged in turnabout gear spring bearing mechanism, turnabout gear branch
Support Bearning mechanism be arranged on main installing plate on, when main motor installing plate is arranged on main installing plate top when main motor obtain electric work its
After axis of rotation, the output shaft of main motor drives driving gear to rotate, and driving gear drives turnabout gear to rotate, turnabout gear band
Move main installing plate and all parts on main installing plate rotate.
The de-stacking manipulator, loading manipulator first set finger rocker arm assembly two rocking arm spring bearing mechanisms peace
Mounted in the inner side of two rocking arm installing plate perforates of lower supporting plate left part, two rocking arm spring bearings of second set of finger rocker arm assembly
Mechanism is before and after the inner side of two rocking arm installing plate perforates of lower supporting plate right part, the transverse axis bar of first set finger rocker arm assembly
Two parts not An Zhuan in two rocking arm spring bearing mechanisms of first set finger rocker arm assembly, second set of finger rocker arm assembly
Two parts An Zhuan not be in two rocking arm spring bearing mechanisms of second set of finger rocker arm assembly before and after transverse axis bar, first set finger
Rocking arm, the linking arm of rocker arm assembly are separately mounted on the transverse axis bar rear and front end of first set finger rocker arm assembly, second set of hand
Linking arm, the rocking arm for referring to rocker arm assembly are separately mounted on the transverse axis bar rear and front end of second set of finger rocker arm assembly, first set
The connecting rod rear and front end of finger rocker arm assembly is separately mounted to the rocking arm of first set finger rocker arm assembly, in the middle part of linking arm on, the
The connecting rod rear and front end of two sets of finger rocker arm assemblies is separately mounted to the linking arm of second set of finger rocker arm assembly, rocking arm middle part
On, first set finger rocking arm cylinder is arranged on first lower supporting plate upper end, the plunger front end peace of first set finger rocking arm cylinder
In the rocking arm upper end perforate of first set finger rocker arm assembly, second set of finger rocking arm cylinder is arranged on second lower supporting plate
Upper end, the plunger front end of second set of finger rocking arm cylinder are arranged in the rocking arm upper end perforate of second set of finger rocker arm assembly, and two
When set finger rocking arm cylinder obtains its anterior forward plunger motion of electric work, the plunger of two sets of finger rocking arm cylinders can drive two sets of hands
Refer to rocking arm spring bearing mechanism rotation of the transverse axis bar of rocker arm assembly along two sets finger rocker arm assemblies, two sets of finger rocking arm cylinders
Plunger can promote lower end of two sets of finger rocker arm assembly rocking arm upper ends with motion rocker arm inwardly to move, and two finger rocking arm cylinders obtain electric
Its anterior plunger work when moving backward, the plunger of two finger rocking arm cylinders can drive the transverse axis bar of two sets of finger rocker arm assemblies
Rotated along the rocking arm spring bearing mechanism of two sets of finger rocker arm assemblies, the plunger of two sets of finger rocking arm cylinders can promote two sets of fingers
Lower end of the rocker arm assembly rocking arm upper end with motion rocker arm moves out.
The de-stacking manipulator, two sets of finger rocking arm cylinders of loading manipulator obtain electric work its anterior plunger and transported forward
Dynamic, the plunger of two sets of finger rocking arm cylinders drives rocking arm of the transverse axis bar of two sets of finger rocker arm assemblies along two sets of finger rocker arm assemblies
Spring bearing mechanism rotates, and the plunger of two sets of finger rocking arm cylinders promotes two sets of finger rocker arm assembly rocking arm upper ends with motion rocker arm
When lower end is inwardly moved, linking arm, the rocking arm of two sets of finger rocker arm assemblies can drive the finger mechanism of finger rocker arm assembly inside
Lateral movement, then, curved metallic rod distance is close in the finger mechanism eight of two sets of finger rocker arm assemblies, two sets of finger rocking arm gas
Cylinder obtains electric work its anterior plunger and moved backward, and the plunger of two sets of finger rocking arm cylinders drives the transverse axis of two sets of finger rocker arm assemblies
Rocking arm spring bearing mechanism of the bar along two sets of finger rocker arm assemblies rotates, and the plunger of two sets of finger rocking arm cylinders promotes two sets of fingers
When lower end of the rocker arm assembly rocking arm upper end with motion rocker arm moves out, linking arm, the rocking arm of two sets of finger rocker arm assemblies can drive
The outside lateral movement of finger mechanism of finger rocker arm assembly, then, curved gold in the finger mechanism eight of two sets of finger rocker arm assemblies
Belong to bar distance increase.
The de-stacking manipulator, the Suction cup assembly of loading manipulator install, can be by sucker after aerofoil fan obtains electric work
Interior volume air between bagged product is extracted out, produces parital vacuum and suction, four sucker bufferings are produced to bagged product
Connecting rod top is separately mounted to the corner of Suction cup assembly installing plate, at work, when can absorb handling bagged product, packed production
For product to impact forces caused by sucker, sealing sponge plays the space effect between seal bag product and sucker suction inlet.
The utility model effect is：It is before use, advance according to the product quantity information of loading, the information for automobile of freighting, PLC
Programming can come into operation.In use, a number of bagged product is first placed on hoistable platform by fork truck.Compiled inside PLC
Under process control, after de-stacking cart, belt conveyer, de-stacking dolly, de-stacking manipulator obtain electric work；De-stacking cart drives de-stacking small
Car side-to-side movement on the guide rail of supporting steel frame left part rear and front end, de-stacking dolly can drive de-stacking manipulator on de-stacking cart
Moved forward and backward on two guide rails being longitudinally arranged；De-stacking manipulator is under PLC control actions and its under miscellaneous part collective effect,
The finger mechanism of its lower end can pick up bagged product, then be placed on belt conveyer, and belt conveyer send bagged product
Enter supporting steel frame right part entrucking area；All processes are circulated, until product conveys through belt conveyer on all hoistable platforms
To entrucking area.After belt conveyor conveys bagged product in place, under PLC controls, entrucking cart, entrucking dolly, carloader
Tool hand obtains electric work, and entrucking cart drives entrucking dolly to be moved forward and backward on the guide rail of supporting steel frame right part left and right ends, entrucking
Dolly drives loading manipulator side-to-side movement on the guide rail of lateral arrangement on entrucking cart；Loading manipulator controls in PLC to be made
With under lower and its miscellaneous part collective effect, the finger mechanism of its lower end can pick up bagged product, then in order, horizontal, vertical friendship
Fork piles up goods on lorry；All processes are circulated, and product, which loads in lorry, after all de-stackings completes all works
Sequence.The utility model reduces manufacturer's expense expenditure, saves waste of human resource, can realize that automation is unattended, have
Good application prospect.
Brief description of the drawings
The utility model is described further below in conjunction with drawings and examples.
Fig. 1 is that the utility model hoistable platform, belt conveyer, de-stacking cart, de-stacking dolly, entrucking cart, entrucking are small
Vertical view figure structure schematic representation between car, supporting steel frame and fork truck.
Fig. 2 is the right side between the utility model hoistable platform, de-stacking manipulator, loading manipulator and fork truck, loading lorry
Depending on structural representation.
Fig. 3 is the utility model de-stacking manipulator, loading manipulator structural representation.
Fig. 4 is the utility model PLC control workflow block diagrams.
Embodiment
Shown in Fig. 1, Fig. 2, Fig. 3, a kind of intelligent loading system, including hoistable platform 1, belt conveyer 2, de-stacking cart
3rd, de-stacking dolly 4, entrucking cart 5, entrucking dolly 6 and supporting steel frame 7, de-stacking cart 3, entrucking cart 5, entrucking dolly 6, de-stacking
Dolly 4 is the walking derricking gear in system, there is a mobile prypole 21, entrucking dolly on entrucking dolly 6, de-stacking dolly 4
6th, de-stacking dolly 4, which lifts by crane power output gear and can make to move prypole 21, moves up and down starting parcel, by control unit, carloader
Tool hand 8 and de-stacking manipulator 9 are formed, and control unit is PLC, and model is DVP10MC11T, de-stacking manipulator 8 and loading manipulator
9 constructions are consistent, and hoistable platform 1 is arranged in the middle part of 7 left front lower end of supporting steel frame, and belt conveyer 2 is arranged on the middle part of supporting steel frame 7
Lower end, de-stacking cart 3 are arranged on the left part rear and front end of supporting steel frame 7, and de-stacking dolly 4 is arranged on longitudinal cloth on de-stacking cart 3
On the two guide rail 7-2 put, after installing, before the wheel at the bottom both ends of de-stacking cart 3 is laterally positioned in supporting steel frame left part respectively
Afterwards on the guide rail 7-1 at both ends, the wheel of the bottom of de-stacking dolly 4 is longitudinally located at two guide rail 7-2 being longitudinally arranged on de-stacking cart
On, de-stacking manipulator 9 is arranged on the bottom of the derricking gear of de-stacking dolly 4 movement prypole, and the wheel of de-stacking cart 3, which can drive, to be torn open
The side-to-side movement on 7-1 on the guide rail of supporting steel frame left part rear and front end of pile dolly 4, the wheel of de-stacking dolly 4 can drive unstacker
Moved forward and backward on two guide rail 7-2 that tool hand 9 is longitudinally arranged on de-stacking cart, entrucking cart 5 is arranged on the right part of supporting steel frame 7
Left and right ends, entrucking dolly 6 is arranged on entrucking cart 5 on two guide rail 7-3 of lateral arrangement, after installing, entrucking cart 5
Longitudinal direction is on the guide rail 7-4 of supporting steel frame right part left and right ends respectively for the wheel at bottom both ends, the wheel of the bottom of entrucking dolly 6
It is laterally positioned on two guide rail 7-3 being longitudinally arranged on entrucking cart, loading manipulator 8 is arranged on the derricking gear of entrucking dolly 6
The bottom of mobile prypole 21, the wheel of entrucking cart 5 can drive entrucking dolly 6 in the guide rail of supporting steel frame right part left and right ends
Moved forward and backward on 7-4, the wheel of entrucking dolly 6 can drive two guide rail 7-3 of the lateral arrangement on entrucking cart of loading manipulator 8
Upper side-to-side movement, loading automobile 10 are located at the lower end of the right part of supporting steel frame 7, and PLC power inputs and 24V dc sources are by leading
Line connect, PIC first, second, the 3rd, the 4th, the 5th, the 6th control signal output respectively through two after
Electrical equipment and four servo-drivers, control input to hoistable platform 1, belt conveyer 2, de-stacking cart 3, de-stacking dolly 4, entrucking
The working power of cart 5, entrucking dolly 6, PIC the 7th, the 8th, the 9th control signal output be respectively through two relays
Device and a servo-driver, the working power in control input to de-stacking manipulator 9, PIC the tenth, the 11st, the tenth
Two control signal outputs are respectively through two relays and a servo-driver, in control input to loading manipulator 8
Working power.De-stacking manipulator 9, loading manipulator 8 are respectively supported by driving gear 11, main motor, turnabout gear 12, turnabout gear
Bearning mechanism 13, main installing plate 14, lower supporting plate 15, Suction cup assembly installing plate 16, rocking arm installing plate 17, finger rocker arm assembly
18th, finger rocking arm cylinder 19, Suction cup assembly 20 are formed, and main motor is arranged on the main motor installing plate of the main upper end of installing plate 14,
Driving gear 11 is arranged on main motor output shaft, and turnabout gear 12 is arranged in turnabout gear spring bearing mechanism 13, convolution
Gear spring bearing mechanism 13 is arranged on main installing plate 14, and main motor installing plate is arranged on the main top of installing plate 14, sucker group
The installing plate of part 20 is arranged on below main installing plate 14 by 4 vertical columns, and rocking arm installing plate 17 has four, is separately mounted to down
Supporting plate 15 all around two, finger rocker arm assembly 18 has two sets of identical, often covers by rocking arm 18-1, rocking arm spring bearing machine
Structure 18-2, transverse axis bar 18-3, connecting rod 18-4, linking arm 18-5, striker plate 18-6, finger mechanism 18-7 compositions, often cover finger and shake
The rocking arm spring bearing mechanism 18-2 of arm component has two, two rocking arm spring bearing mechanisms of first set finger rocker arm assembly
18-2 is arranged on the inner side of lower supporting plate 15 left part, two perforates of rocking arm installing plate 17, and two of second set of finger rocker arm assembly shake
Arm spring bearing mechanism 18-2 is arranged on the inside of the perforate of lower supporting plate 15 right part, two rocking arm installing plates 17, and first set finger shakes
Before and after the transverse axis bar 18-3 of arm component two parts not An Zhuan first set finger rocker arm assembly two rocking arm spring bearing mechanisms
On 18-2, before and after the transverse axis bar 18-3 of second set of finger rocker arm assembly two parts not An Zhuan second set of finger rocker arm assembly two
On rocking arm spring bearing mechanism 18-2, rocking arm 18-1, the linking arm 18-5 of first set finger rocker arm assembly are separately mounted to
On the transverse axis bar 18-3 rear and front ends of a set of finger rocker arm assembly, linking arm 18-5, the rocking arm 18- of second set of finger rocker arm assembly
1 is separately mounted on the transverse axis bar 18-3 rear and front ends of second set of finger rocker arm assembly, the connecting rod of first set finger rocker arm assembly
18-4 rear and front ends are separately mounted to the rocking arm 18-1 of first set finger rocker arm assembly, on linking arm 18-5 middle parts, second set of hand
The connecting rod 18-4 rear and front ends for referring to rocker arm assembly are separately mounted to the linking arm 18-5 of second set of finger rocker arm assembly, rocking arm 18-1
On middle part, the striker plate 18-6 rear and front ends of first set finger rocker arm assembly are separately mounted to shaking for first set finger rocker arm assembly
On arm 18-1, linking arm 18-5 bottoms, the striker plate 18-6 rear and front ends of second set of finger rocker arm assembly are separately mounted to second
Cover the linking arm 18-5 of finger rocker arm assembly, on rocking arm 18-1 bottoms, the finger mechanism 18-7 for often covering finger rocker arm assembly be by
Eight inflexed metallic rods are made, and there are a gum cover, the hand of first set finger rocker arm assembly in curved metallic rod front end in every
Refer to mechanism 18-7 to be separately mounted to from front to back below the striker plate 18-6 of first set finger rocker arm assembly, second set of finger rocking arm
The finger mechanism 18-7 of component is separately mounted to below the striker plate 18-6 of second set of finger rocker arm assembly from front to back, and finger shakes
Arm cylinder 19 has two sets, and finger rocking arm cylinder 19 is Electrohydraulic push rod, and first set finger rocking arm cylinder 19 is arranged under first and propped up
The upper end of fagging 15, the plunger front end of first set finger rocking arm cylinder 19 are arranged on the rocking arm 18-1 of first set finger rocker arm assembly
Hold in perforate, second set of finger rocking arm cylinder 19 is arranged on second upper end of lower supporting plate 15, second set of finger rocking arm cylinder 19
Plunger front end be arranged in the rocking arm 18-1 upper end perforates of second set of finger rocker arm assembly, Suction cup assembly 20 is by buffering connecting rod
20-1, sucker 20-2, sealing sponge 20-3 and aerofoil fan composition, aerofoil fan suction pipe are arranged on the perforate of sucker 20-2 upper ends
On, four sucker buffering connecting rod 20-1 bottoms are separately mounted to sucker 20-2 upper ends surrounding, four sucker buffering connecting rod 20-
1 top is separately mounted to the corner of Suction cup assembly installing plate 16, and sealing sponge 20-3 is arranged on the surrounding of sucker 20-2 suction inlets, torn open
The main motor installing plate upper end of pile manipulator 9 is arranged on the right side of the platform casing of de-stacking dolly 4 under derricking gear movement prypole
Portion, the main motor installing plate upper end of loading manipulator 8 are arranged on derricking gear movement lifting on the right side of the platform casing of entrucking dolly 6
The bottom of bar.
Shown in Fig. 1, Fig. 2, Fig. 3, de-stacking manipulator 9, the main motor of loading manipulator 8 are arranged on the main upper end of installing plate 14
Main motor installing plate on, driving gear 11 be arranged on main motor output shaft on, turnabout gear 12 be arranged on turnabout gear support
On Bearning mechanism 13, turnabout gear spring bearing mechanism 13 is arranged on 14 on main installing plate, and main motor installing plate is arranged on main peace
During 14 top of loading board after main motor obtains its axis of rotation of electric work, the output shaft of main motor drives driving gear 11 to rotate, main
Moving gear 11 drives turnabout gear 12 to rotate, and turnabout gear 12 drives main installing plate 14 and owning on main installing plate 14
Part rotates.De-stacking manipulator 9, loading manipulator 8 first set finger rocker arm assembly two rocking arm spring bearing mechanism 18-
2 are arranged on the inner side of two perforates of rocking arm installing plate 17 of lower supporting plate left part, two rocking arm branch of second set of finger rocker arm assembly
Support the inner side that Bearning mechanism 18-2 is arranged on two perforates of rocking arm installing plate 17 of lower supporting plate right part, first set finger rocker arm assembly
Transverse axis bar 18-3 before and after two parts not An Zhuan on two rocking arm spring bearing mechanism 18-2 of first set finger rocker arm assembly,
Before and after the transverse axis bar 18-3 of second set of finger rocker arm assembly two parts not An Zhuan second set of finger rocker arm assembly two rocking arms
On spring bearing mechanism 18-2, rocking arm 18-1, the linking arm 18-5 of first set finger rocker arm assembly are separately mounted to first set hand
On the transverse axis bar 18-3 rear and front ends for referring to rocker arm assembly, linking arm 18-5, rocking arm the 18-1 difference of second set of finger rocker arm assembly
On the transverse axis bar 18-3 rear and front ends of second set of finger rocker arm assembly, before the connecting rod 18-4 of first set finger rocker arm assembly
Both ends are separately mounted to the rocking arm 18-1 of first set finger rocker arm assembly, on linking arm 18-5 middle parts afterwards, second set of finger rocking arm
The connecting rod 18-4 rear and front ends of component are separately mounted in the middle part of the linking arm 18-5 of second set of finger rocker arm assembly, rocking arm 18-1
On, first set finger rocking arm cylinder 19 is arranged on first upper end of lower supporting plate 15, the plunger of first set finger rocking arm cylinder 19
Front end is arranged in the rocking arm 18-1 upper end perforates of first set finger rocker arm assembly, and second set finger rocking arm cylinder 19 is installed in the
Two upper ends of lower supporting plate 15, the plunger front end of second set of finger rocking arm cylinder 19 are arranged on shaking for second set of finger rocker arm assembly
In arm 18-1 upper end perforates, when two sets of finger rocking arm cylinders 19 obtain its anterior forward plunger motion of electric work, two sets of finger rocking arms
The plunger of cylinder 19 can drive rocking arm support shafts of the transverse axis bar 18-3 of two sets of finger rocker arm assemblies along two sets of finger rocker arm assemblies
Mechanism 18-2 rotations are held, the plunger of two sets of finger rocking arm cylinders 19 can promote two sets of finger rocker arm assembly rocking arm 18-1 upper ends to drive
Inwardly move rocking arm 18-1 lower end；Two sets of finger rocking arm cylinders 19 electric work its anterior plunger when moving backward, two sets of hands
Rocking arms of the transverse axis bar 18-3 of two sets of finger rocker arm assemblies along two sets of finger rocker arm assemblies can be driven by referring to the plunger of rocking arm cylinder 19
Spring bearing mechanism 18-2 is rotated, and the plunger of two sets of finger rocking arm cylinders 19 can be promoted on two sets of finger rocker arm assembly rocking arm 18-1
Lower end of the end with motion rocker arm 18-1 moves out.Two sets of finger rocking arm cylinders 19 electric work its anterior forward plunger motion, two
The plunger of set finger rocking arm cylinder 19 drives the transverse axis bar 18-3 of two sets of finger rocker arm assemblies shaking along two sets of finger rocker arm assemblies
Arm spring bearing mechanism 18-2 is rotated, and the plunger of two sets of finger rocking arm cylinders 19 promotes two sets of finger rocker arm assembly rocking arm upper end bands
When the lower end of motion rocker arm is inwardly moved, linking arm 18-5, the rocking arm 18-1 of two sets of finger rocker arm assemblies can drive finger component
Finger mechanism 18-7 is to medial motion, then, in the finger mechanism 18-7 eight of two sets of finger rocker arm assemblies curved metallic rod away from
From close；Two sets of finger rocking arm cylinders 19 electric work its anterior plunger moves backward, the plunger of two sets of finger rocking arm cylinders 19
Rocking arm spring bearing mechanism 18-3s of the transverse axis bar 18-6 of two sets of finger rocker arm assemblies along two sets of finger rocker arm assemblies is driven to rotate,
The plunger of two sets of finger rocking arm cylinders 19 promotes the two sets of lower ends of finger rocker arm assembly rocking arm upper end with motion rocker arm 18-1 to outward transport
When dynamic, linking arm 18-5, the rocking arm 18-2 of two sets of finger rocker arm assemblies can drive the finger mechanism 18-7 of finger component laterally
Motion, then, curved metallic rod distance increase in the finger mechanism 18-7 eight of two sets of finger rocker arm assemblies.Suction cup assembly 20 is pacified
After installing, after aerofoil fan obtains electric work, the interior volume air between sucker 20-2 and bagged product can be extracted out, generation office
Portion's vacuum produces suction to bagged product, and four sucker buffering connecting rod 20-1 tops are separately mounted to Suction cup assembly installing plate 16
Corner, at work, when can absorb handling bagged product, bagged product is to impact forces caused by sucker 20-2, sealing
Sponge 20-3 plays the space effect between seal bag product and sucker 20-2 suction inlets.
Shown in Fig. 1, Fig. 2, Fig. 3, before use, pre- according to the product quantity information of loading, the information for automobile of freighting, PLC
First programming can come into operation.In use, the bagged product of whole pile is placed on hoistable platform 1 by fork truck from finished room, it is
System detects after having material on hoistable platform 1 that PLC is controlled down according to inside programming, PLC difference order output control signals, control
De-stacking cart 3, belt conveyer 2, de-stacking dolly 4, de-stacking manipulator 9 obtain electric work；De-stacking cart 3 drives de-stacking dolly 4 to exist
Side-to-side movement on the guide rail 7-1 of supporting steel frame left part rear and front end, de-stacking dolly 4 drive de-stacking manipulator 9 on de-stacking cart 3
Moved forward and backward on two guide rail 7-2 being longitudinally arranged；De-stacking manipulator 9 is under PLC control actions and its miscellaneous part is made jointly
Under, its lower end Suction cup assembly 20 picks up bagged product, the finger mechanism 18-7 of finger rocker arm assembly catches bagged product,
Suction cup assembly 20 closes source of the gas, and then motion is put to the left end of belt conveyer 2, and bagged product is sent into branch by belt conveyer 2
The right part entrucking area of steelframe 7 is supportted, carries out entrucking；All processes are circulated, and product is defeated through belt conveyer 3 after all stackings
It is sent to entrucking area.In operation, the main motor of de-stacking manipulator 9 can be according under PLC inside programming control actions, through driving gear
11st, turnabout gear 12, main installing plate 14 and mounted in the main all of the above part of installing plate 14 turn to so that under de-stacking manipulator 9
Goods normally can be picked up or put down by the finger mechanism 18-7 of the finger rocker arm assembly at end.De-stacking manipulator 9 works, de-stacking machinery
When hand is reached above stacking area goods, PLC is controlled down according to inside programming, and PLC difference order output control signals control two sets
Finger rocking arm cylinder 19 electric work, when two sets finger rocking arm cylinders 19, which obtain electric work its anterior plunger, to move backward, two sets
The plunger of finger rocking arm cylinder 19 can drive the transverse axis bar 18-3 of two sets of finger rocker arm assemblies shaking along two sets of finger rocker arm assemblies
Arm spring bearing mechanism 18-2 is rotated, and the plunger of two sets of finger rocking arm cylinders 19 can promote two sets of finger rocker arm assembly rocking arm 18-1
Lower end of the upper end with motion rocker arm 18-1 is moved out, and linking arm 18-5, rocking arm 18-1 the meeting band of two sets of finger rocker arm assemblies are started
Refer to the outside lateral movements of finger mechanism 18-7 of rocker arm assembly, then, in the finger mechanism 18-7 eight of two sets of finger rocker arm assemblies
Curved metallic rod distance increase, reserves the attaching space between bag cargo and sucker；This moment, PLC distinguishes order output control
Signal control Suction cup assembly 20 obtains electric, decline and contacted with bagged product, after the aerofoil fan of Suction cup assembly 20 obtains electric work, can incite somebody to action
Interior volume air between sucker 20-2 and bagged product is extracted out, is produced parital vacuum and is produced suction to bagged product, four
Sucker buffering connecting rod 20-1 at work, can absorb handling bagged product to impact forces caused by sucker 20-2, sealing
Sponge 20-3 plays the space effect between seal bag product and sucker 20-2 suction inlets.Suction cup assembly holds bagged product simultaneously
After lifting certain altitude, PLC difference order output control signals control two sets of finger rocking arm cylinders 19 to obtain electric work, finger rocking arm
The finger mechanism 18-7 of component closes up to medial motion, finger component and catches bagged product, then the axle stream wind of Suction cup assembly 20
Fan dead electricity, which is stopped, no longer produces suction, and the finger mechanism 18-7 by Suction cup assembly 20 and two sets of finger rocker arm assemblies is common
Effect, can more preferably be clipped in bag cargo between the finger mechanism 18-7 of two sets of finger rocker arm assemblies, and single sucker easily falls
The problem of bag, single finger mechanism can not capture the bagged material of stacking together.When de-stacking manipulator 9 works, de-stacking machinery
When hand 9 clips goods arrival 2 top of belt conveyer, PLC is controlled down according to inside programming, PLC difference order output control letters
Number two sets finger rocking arm cylinders 19 of control electric work, transported backward when two sets of finger rocking arm cylinders 19 obtain electric work its anterior plunger
When dynamic, the transverse axis bar 18-3 of plunger two sets of finger rocker arm assemblies of drive of two sets finger rocking arm cylinders 19 is along two sets of finger rocking arm sets
The rocking arm spring bearing mechanism 18-2 of part is rotated, and the plunger of two sets of finger rocking arm cylinders 19 promotes two sets of finger rocker arm assembly rocking arms
Lower end of the 18-1 upper ends with motion rocker arm 18-1 moves out, and linking arm 18-5, the rocking arm 18-1 of two sets of finger rocker arm assemblies can bands
Start refer to rocker arm assembly the outside lateral movements of finger mechanism 18-7, then, the finger mechanism 18-7 eight of two sets of finger rocker arm assemblies
Curved metallic rod distance increase in only, goods is placed on belt conveyor 2 and export and be sent to entrucking area progress car loading operation.
Shown in Fig. 1, Fig. 2, Fig. 3, when belt conveyor 2 conveys bagged product to the loading positioned at the right of supporting steel frame 7
Qu Hou, PLC are controlled down according to inside programming, PLC difference order output control signals, control entrucking cart 5, entrucking dolly 6, dress
Car manipulator 8 obtains electric work；Entrucking cart 5 drives entrucking dolly 6 front and rear on the guide rail 7-4 of supporting steel frame right part left and right ends
Motion, entrucking dolly 6 drive the side-to-side movement on the guide rail 7-3 of lateral arrangement on entrucking cart of loading manipulator 8；Loading machine
For hand 8 under PLC control actions and its under miscellaneous part collective effect, the finger mechanism 18-7 of the finger component of its lower end can be by bag
Dress product is picked up, and is then placed on layering in lorry and is piled up in order；All processes are circulated, until loading manipulator 8 will be all
Bag cargo, which loads all process steps in lorry, to be completed, and PLC no longer output control signals, returns to original state.In operation, fill
The main motor of car manipulator 8 can be according under PLC inside programming control actions, through driving gear 11, turnabout gear 12, main installing plate
14 and mounted in the main all of the above part of installing plate 14 turn to so that the finger of the finger rocker arm assembly of the lower end of loading manipulator 8
Goods normally can be picked up or put down by mechanism 18-7.Loading manipulator 8 works, and loading manipulator 8 reaches belt conveyer 3 and exported
Bag cargo above when, PLC is controlled down according to inside programming, PLC respectively order output control signal control two sets of fingers shake
Arm cylinder 19 obtains electric work, and when two sets of finger rocking arm cylinders 19 obtain its anterior forward plunger motion of electric work, two sets of fingers shake
The plunger of arm cylinder 19 can drive rocking arms of the transverse axis bar 18-3 of two sets of finger rocker arm assemblies along two sets of finger rocker arm assemblies to support
Bearning mechanism 18-2 is rotated, and the plunger of two sets of finger rocking arm cylinders 19 can promote two sets of finger rocker arm assembly rocking arm 18-1 upper ends bands
Motion rocker arm 18-1 lower end is inwardly moved, and linking arm 18-5, the rocking arm 18-1 of two sets of finger rocker arm assemblies can drive finger rocking arm
The finger mechanism 18-7 of component is to medial motion, then, curved gold in the finger mechanism 18-7 eight of two sets of finger rocker arm assemblies
It is close to belong to bar distance, bag cargo is got hold of, loading manipulator 8 moves with bagged product to boxcar direction.Entrucking
When manipulator 8 clips the specified location that PLC is calculated above goods arrival boxcar, PLC is controlled down according to inside programming,
PLC difference order output control signals control two sets of finger rocking arm cylinders 19 to obtain electric work, when two sets of finger rocking arm cylinders 19 obtain
When its anterior plunger of electricity work moves backward, the plunger of two sets of finger rocking arm cylinders 19 drives the transverse axis of two sets of finger rocker arm assemblies
Rocking arm spring bearing mechanism 18-2s of the bar 18-3 along two sets of finger rocker arm assemblies is rotated, and the plunger of two sets of finger rocking arm cylinders 19 pushes away
Dynamic lower end of two sets of finger rocker arm assembly rocking arm 18-1 upper ends with motion rocker arm 18-1 moves out, the company of two sets of finger rocker arm assemblies
Meet arm 18-5, rocking arm 18-1 can drive the outside lateral movements of finger mechanism 18-7 of finger component, then, two sets of finger rocker arm assemblies
Finger mechanism 18-7 eight in curved metallic rod distance increase, goods can be just placed in boxcar.The present invention makees in PLC
Under, de-stacking and entrucking synchronous coordination are carried out, and after the completion of de-stacking process, entrucking process is also completed, and goods can be layered horizontal, vertical in order
Cross code is placed on lorry, realizes unmanned whole de-stacking entrucking process.
Shown in Fig. 4, after control unit starts, Auto-Sensing Mode can be entered, when faulty, alarm is manually handled, such as
Fruit control unit itself does not have failure, and control unit returns to original state and enters de-stacking startup program and entrucking startup program.Tear open
After pile startup program starts, under control unit effect, if there is material in hoistable platform pallet, control unit can be torn open into calculating
Height of embankment degree, position, anglec of rotation pattern, if in pallet material will be well placed in pallet, so using artificial without material using fork truck
Afterwards, control unit, which can enter, calculates de-stacking height, position, anglec of rotation pattern.If cargo height is in place in pallet, controlling
Under unit effect, de-stacking cart and de-stacking dolly can make de-stacking manipulator run to crawl station, the lower hand of de-stacking manipulator
Refer to mechanism when can grab goods, tear open to chop manipulator and be directly entered to tear open and chop process, if the bottom finger mechanism of de-stacking manipulator
When can not grab goods, under control unit effect, hoistable platform can rise automatically, so that de-stacking manipulator can capture goods
Thing.Under control unit effect, when de-stacking manipulator captures goods, if the finger mechanism direction in the subordinate portion of de-stacking machinery and
For goods towards consistent, subordinate drop of de-stacking machinery simultaneously opens the aerofoil fan power supply of Suction cup assembly, chops in sucking disc mechanism suction and tearing open
Under the finger mechanism effect of manipulator, goods is firmly grasped and held, then, de-stacking machinery rises on hand, small in de-stacking cart, de-stacking
Under car effect, one bag of bag cargo is moved on belt conveyor, then de-stacking manipulator unclamps, closes Suction cup assembly axle stream
Fan.Under control unit effect, when de-stacking manipulator captures goods, if the finger mechanism direction in the subordinate portion of de-stacking machinery
With goods towards inconsistent, the finger mechanism of de-stacking manipulator is under related facility effect, it may occur that turns to, makes de-stacking manipulator
The finger mechanism direction of bottom is consistent with goods direction, then, the subordinate aerofoil fan electricity for dropping and opening Suction cup assembly of stack machine tool
Source, under the effect of the finger mechanism of Suction cup assembly suction and de-stacking manipulator, goods is firmly grasped and held, then, de-stacking machinery
Rise on hand, under de-stacking cart, the effect of de-stacking dolly, by one bag of goods movement to belt conveyer, then de-stacking manipulator
Unclamp, close Suction cup assembly aerofoil fan.When on one bag of goods belt conveyer, after belt conveyer station to adding material has material,
Under control unit effect, de-stacking startup program returns to original state, and next bag of goods is transported into belt conveyer work to be expected
There is material position.When belt conveyer station to adding material has material, entrucking start-up mode is in open mode this moment, is acted in control unit
Under, loading manipulator can be moved to the upper end of goods by entrucking cart, entrucking dolly, under the finger mechanism of loading manipulator lower end
General who has surrendered's goods clamping, then under control unit effect, loading manipulator rises.After loading manipulator rises, at control unit
In calculating entrucking stacking position, anglec of rotation pattern, loading machine hand handle goods movement piles up area to vehicular container, by goods code
It is placed in compartment；After one layer has been piled up, the bottom finger mechanism rotation of control unit control loading manipulator is turned to another direction, so as to
Goods energy cross code is placed in boxcar.Loading machine hand handle goods movement piles up area to vehicle cargo, and goods is piled up
After in compartment, under control unit effect, loading manipulator bottom finger mechanism unclamps, and loading manipulator rises and run to defeated
Send belt feeder station to adding material, carry out the crawl of next bag of goods and pile up process, pile up and finish until all goods, all process steps
Complete.Under PLC effects, de-stacking and entrucking process synchronous coordination are carried out the utility model, after the completion of de-stacking process, entrucking process
Also complete, goods can be layered orderly horizontal, vertical cross code and be placed on lorry, realize unmanned whole de-stacking entrucking process.
It should be noted that the present embodiment is the utility model type preferred embodiments, it is all not to limit the utility model
Any modification, equivalent substitution and improvements etc. are done in the utility model spirit, should be included in protection model of the present utility model
Within enclosing.
Claims (3)
1. a kind of intelligent loading system, including hoistable platform, belt conveyer, de-stacking cart, de-stacking dolly, entrucking cart, dress
Car dolly and supporting steel frame, de-stacking cart, entrucking cart, entrucking dolly, de-stacking dolly are the walking derricking gears in system, dress
Respectively there is one group of movement prypole on car dolly, de-stacking dolly, entrucking dolly, de-stacking dolly lifting power output gear can make movement
Prypole moves up and down starting parcel, it is characterised in that is made up of control unit, loading manipulator and de-stacking manipulator, control is single
Member is PLC, and model is DVP10MC11T, and de-stacking manipulator is consistent with loading manipulator construction, and hoistable platform is arranged on supporting steel
In the middle part of the left front lower end of frame, belt conveyer is arranged on lower end in the middle part of supporting steel frame, before de-stacking cart is arranged on supporting steel frame left part
Afterwards on both ends, de-stacking dolly is arranged on two guide rails being longitudinally arranged on de-stacking cart, after installing, de-stacking cart bottom two
The wheel at end is laterally positioned on the guide rail of supporting steel frame left part rear and front end respectively, and the wheel of de-stacking dolly bottom, which is longitudinally located at, to be torn open
On two guide rails being longitudinally arranged on pile cart, de-stacking manipulator is arranged under de-stacking dolly derricking gear movement prypole
Portion, the wheel of de-stacking cart can drive the side-to-side movement on the guide rail of supporting steel frame left part rear and front end of de-stacking dolly, and de-stacking is small
Car wheel can be driven and be moved forward and backward on two guide rails that de-stacking manipulator is longitudinally arranged on de-stacking cart, and entrucking cart is arranged on
Supporting steel frame right part left and right ends, entrucking dolly is arranged on entrucking cart on two guide rails of lateral arrangement, after installing, dress
Longitudinal direction is on the guide rail of supporting steel frame right part left and right ends respectively for the wheel at car cart bottom both ends, the car of entrucking dolly bottom
Wheel is laterally positioned on two guide rails being longitudinally arranged on entrucking cart, and loading manipulator moves installed in entrucking dolly derricking gear
The bottom of prypole, the wheel of entrucking cart can drive entrucking dolly front and rear fortune on the guide rail of supporting steel frame right part left and right ends
Dynamic, entrucking car wheel can drive loading manipulator side-to-side movement on two guide rails of lateral arrangement on entrucking cart, loading
Automobile is located at the lower end of supporting steel frame right part, and PLC power inputs are connected with 24V dc sources by wire, PIC first,
Second, the 3rd, the 4th, the 5th, the 6th control signal output drive through two relays and four servos respectively
Dynamic device, the work of control input to hoistable platform, belt conveyer, de-stacking cart, de-stacking dolly, entrucking cart, entrucking dolly
Power supply, PIC the 7th, the 8th, the 9th control signal output respectively through two relays and a servo-driver, control
Working power of the system input to de-stacking machinery on hand, PIC the tenth, the 11st, the 12nd control signal output difference
Through two relays and a servo-driver, the working power of control input to loading machine on hand.
A kind of 2. intelligent loading system according to claim 1, it is characterised in that de-stacking manipulator, loading manipulator respectively by
Driving gear, main motor, turnabout gear, turnabout gear spring bearing mechanism, main installing plate, lower supporting plate, Suction cup assembly installation
Plate, rocking arm installing plate, finger rocker arm assembly, finger rocking arm cylinder, Suction cup assembly composition, main motor are arranged on main installing plate upper end
Main motor installing plate on, driving gear be arranged on main motor output shaft on, turnabout gear is arranged on turnabout gear spring bearing
In mechanism, turnabout gear spring bearing mechanism is arranged on main installing plate, and main motor installing plate is arranged on main installing plate top, is inhaled
Disk unit installing board is arranged on below main installing plate by 4 vertical columns, and rocking arm installing plate has four, is separately mounted to lower branch
Fagging all around two, finger rocker arm assembly has two sets of identical, often cover by rocking arm, rocking arm spring bearing mechanism, transverse axis bar,
Connecting rod, linking arm, striker plate, finger mechanism composition, the rocking arm spring bearing mechanism for often covering finger rocker arm assembly have two, and first
Two rocking arm spring bearing mechanisms for covering finger rocker arm assembly are arranged on the interior of two rocking arm installing plate perforates of lower supporting plate left part
Side, two rocking arm spring bearing mechanisms of second set of finger rocker arm assembly are arranged on two rocking arm installing plates of lower supporting plate right part
On the inside of perforate, two parts An Zhuan not be two of first set finger rocker arm assembly before and after the transverse axis bar of first set finger rocker arm assembly
In rocking arm spring bearing mechanism, two parts An Zhuan not second set of finger rocking arm before and after the transverse axis bar of second set of finger rocker arm assembly
In two rocking arm spring bearing mechanisms of component, rocking arm, the linking arm of first set finger rocker arm assembly are separately mounted to first set
On the transverse axis bar rear and front end of finger rocker arm assembly, linking arm, the rocking arm of second set of finger rocker arm assembly are separately mounted to second
On the transverse axis bar rear and front end for covering finger rocker arm assembly, the connecting rod rear and front end of first set finger rocker arm assembly is separately mounted to the
On in the middle part of the rocking arm of a set of finger rocker arm assembly, linking arm, the connecting rod rear and front end of second set of finger rocker arm assembly is installed respectively
On in the middle part of linking arm, rocking arm in second set of finger rocker arm assembly, the striker plate rear and front end point of first set finger rocker arm assembly
Not An Zhuan the rocking arm of first set finger rocker arm assembly, on linking arm bottom, before and after the striker plate of second set of finger rocker arm assembly
Both ends are separately mounted to the linking arm of second set of finger rocker arm assembly, on rocking arm bottom, often cover the finger machine of finger rocker arm assembly
Structure is made up of eight inflexed metallic rods, and there are a gum cover, first set finger rocking arm set in curved metallic rod front end in every
The finger mechanism of part is separately mounted to below the striker plate of first set finger rocker arm assembly from front to back, second set of finger rocking arm set
The finger mechanism of part is separately mounted to below the striker plate of second set of finger rocker arm assembly from front to back, and finger rocking arm cylinder has two
Set, finger rocking arm cylinder are Electrohydraulic push rods, and first set finger rocking arm cylinder is arranged on the upper end of first lower supporting plate, first set
The plunger front end of finger rocking arm cylinder is arranged in the rocking arm upper end perforate of first set finger rocker arm assembly, and second set of finger shakes
Arm cylinder is arranged on the upper end of second lower supporting plate, and the plunger front end of second set of finger rocking arm cylinder is arranged on second set of finger
In the rocking arm upper end perforate of rocker arm assembly, Suction cup assembly is made up of buffering connecting rod, sucker, sealing sponge and aerofoil fan, axle
Flow fan suction pipe is arranged in the perforate of sucker upper end, and four sucker buffering connecting rod bottoms are separately mounted to sucker upper end four
Week, four sucker buffering connecting rod tops are separately mounted to the corner of Suction cup assembly installing plate, and sealing sponge inhales installed in sucker
The surrounding of mouth, the main motor installing plate upper end of de-stacking manipulator are arranged on derricking gear on the right side of de-stacking trolley platform casing and moved
The bottom of weight bar, the main motor installing plate upper end of loading manipulator are arranged on derricking gear on the right side of entrucking trolley platform casing and moved
The bottom of dynamic prypole.
3. a kind of intelligent loading system according to claim 2, it is characterised in that de-stacking manipulator, the master of loading manipulator
Motor is arranged on the main motor installing plate of main installing plate upper end, and driving gear is arranged on main motor output shaft, turnabout gear
In turnabout gear spring bearing mechanism, turnabout gear spring bearing mechanism is arranged on main installing plate, main motor installation
When plate is arranged on main installing plate top after main motor obtains its axis of rotation of electric work, the output shaft of main motor drives driving gear
Rotate, driving gear drives turnabout gear to rotate, and turnabout gear drives main installing plate and all portions on main installing plate
Part rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720277013.2U CN206654554U (en) | 2017-03-21 | 2017-03-21 | A kind of intelligent loading system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720277013.2U CN206654554U (en) | 2017-03-21 | 2017-03-21 | A kind of intelligent loading system |
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| Publication Number | Publication Date |
|---|---|
| CN206654554U true CN206654554U (en) | 2017-11-21 |
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ID=60315064
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720277013.2U Expired - Fee Related CN206654554U (en) | 2017-03-21 | 2017-03-21 | A kind of intelligent loading system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319511A (en) * | 2018-11-05 | 2019-02-12 | 太原福莱瑞达物流设备科技有限公司 | A kind of vacuum chuck flood unstacker |
| CN110027926A (en) * | 2019-05-22 | 2019-07-19 | 缙云多图智能科技有限公司 | A kind of intelligent carloader based on mobile robot |
-
2017
- 2017-03-21 CN CN201720277013.2U patent/CN206654554U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109319511A (en) * | 2018-11-05 | 2019-02-12 | 太原福莱瑞达物流设备科技有限公司 | A kind of vacuum chuck flood unstacker |
| CN110027926A (en) * | 2019-05-22 | 2019-07-19 | 缙云多图智能科技有限公司 | A kind of intelligent carloader based on mobile robot |
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