CN207671341U - A kind of unidirectional feeding humanoid robot loading system - Google Patents
A kind of unidirectional feeding humanoid robot loading system Download PDFInfo
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- CN207671341U CN207671341U CN201721746119.9U CN201721746119U CN207671341U CN 207671341 U CN207671341 U CN 207671341U CN 201721746119 U CN201721746119 U CN 201721746119U CN 207671341 U CN207671341 U CN 207671341U
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Abstract
The utility model discloses a kind of unidirectional feeding humanoid robot loading systems, it is related to automatic loading system technical field, the utility model includes belt conveyor line, belt conveyor line output terminal is connected with the output roller line being obliquely installed, it is provided with the guide rail parallel with material conveying direction below belt conveyor line, being provided on guide rail can be along the tracking belt line that guide rail moves back and forth, the height for tracking belt line is less than the height of belt conveyor line, output roller line is overlapped in tracking belt line, tracking belt line end is connected with the compound machine robot mechanism that can be passed in and out in boxcar, it is provided with robot below compound machine robot mechanism and resets jacking apparatus, robot resets jacking apparatus and tracking belt line one end is provided with the jacking apparatus coordinated with truck tail；The utility model has simple in structure, efficient work, highly practical, the advantages of being not easy sideslip.
Description
Technical field
The utility model is related to automatic loading system technical fields, more particularly to a kind of unidirectional feeding humanoid robot
Loading system.
Background technology
Along with China's Economic Transition, the adjustment of industry mechanism, enterprise all more pays close attention to itself industry automation level
Process, various automation equipments are come into being, but the rare product appearance of this link of entrucking, still need a large amount of manpower
It completes, by being researched and analysed to the product for packing container type cargo to some, further according to actual truck fill flow, has devised
Can also there are Some Enterprises to begin to use automatic loading system at present with the container type cargo automatic loading system of automatic loading, but
It is that there are following defects for existing automatic loading system：
（1）, due to the pipeline adjustable range of current entire automatic loading system it is limited, pipeline cannot be by different
Demand is adjusted to different length, is not suitable for the compartment of different length, flexibility is low, and practicability is not strong；
（2）, during entrucking, the vehicle tail height of Packaging Box to be loaded is inconsistent, if the tailstock height it is too low, this
It results in robot that cannot can smoothly enter into progress entrucking stacking in compartment, influences loading system normal work.
（3）But the robot of automatic loading system will appear offset in reciprocatory movement, multiple deviation is accumulative,
Will result in robot gripper cannot be accurately positioned, and robot gripper uses leisure moments under serious conditions, cannot be clamped to material packing case,
Lead to automatic loading system cisco unity malfunction.
How above-mentioned technical problem striving direction at those skilled in the art is solved.
Utility model content
Purpose is：It adjustment length and robot cannot be easy to run as required to solve pipeline in automatic loading system
Inclined technical problem, the utility model provide a kind of unidirectional feeding humanoid robot loading system.
The utility model specifically uses following technical scheme to achieve the goals above：
A kind of unidirectional feeding humanoid robot loading system, including belt conveyor line, belt conveyor line output terminal, which is connected with, to incline
The output roller line being tiltedly arranged, belt conveyor line lower section are provided with the guide rail parallel with material conveying direction, are provided on guide rail
The tracking belt line that can be moved back and forth along guide rail, the height for tracking belt line are less than the height of belt conveyor line, output roller line
It being overlapped in tracking belt line, tracking belt line end is connected with the compound machine robot mechanism that can be passed in and out in boxcar,
It is provided with robot below compound machine robot mechanism and resets jacking apparatus, robot resets jacking apparatus far from tracking belt line
One end is provided with the jacking apparatus coordinated with truck tail, and it includes supporting rack that robot, which resets jacking apparatus, on support frame as described above
From top to bottom successively and what is be mutually parallel is provided with horizontal operation platform and power carrying platform, it is provided on horizontal operation platform
Four positioning through hole, horizontal operation platform lower surface be respectively arranged with four one-to-one pilot sleeves of positioning through hole, often
Driving can be provided in the jacking reset post of pilot sleeve synchronization lifting, power carrying platform by being both provided in a pilot sleeve
The composite power mechanism of four jacking reset post synchronization liftings.
Further, further include limit sensory package, limit sensory package includes being mounted below jacking reset post with top
The limit assembly B for rising the inductive component A of reset post lifting and being fixed on power carrying platform, inductive component A include being fixed on
The mounting bracket A below reset post is jacked, is provided with inductive head below mounting bracket A, limit assembly B includes horizontal mounting plate B, vertically
The upper limit position block and lower position block coordinated with inductive head is provided on mounting plate B.
Further, compound machine robot mechanism includes crawler belt mounting bracket and the machine in crawler belt mounting bracket side is arranged
People, the other side is provided with the vehicle-mounted belt line being connect with tracking belt line, crawler belt mounting bracket both sides on the crawler belt mounting bracket
Crawler belt is installed, the material conveying direction of vehicle-mounted belt line is identical as the crawler travel direction of crawler belt mounting bracket.
Further, the robot includes sequentially connected pedestal, convolution seat, large arm, forearm and combined type handgrip
Mechanism, pedestal are mounted on crawler belt mounting bracket, and combined type handgrip mechanism includes that the rotating arm being connect with forearm end and setting exist
Adjustable holding mechanism below rotating arm.
Further, the adjustable holding mechanism includes the transverse slat being fixedly connected with rotating arm, transverse slat lower surface both sides
It is respectively arranged with vertical fixed clamp plate and horizontal mounting plate, is provided between vertical fixed clamp plate and horizontal mounting plate top
Guide rod, being provided on guide rod can be along the movable clamping device that guide rod moves back and forth.
Further, jacking apparatus is worm screw lifting body.
Further, belt conveyor line side is provided with limit anti-falling mechanism and drives the driving electricity of belt conveyor line rotation
Machine.
The beneficial effects of the utility model are as follows：
1, the utility model is simple in structure, and when work, lorry falls back on setting position, brakes, and stops working, driver gets off and presses out
Beginning button, tailstock jacking apparatus jack up the tailstock, and compound machine robot mechanism is entered by crawler-type mobile mechanism in compartment, vehicle
Compartment testing agency can confirm that flexible stop position, belt conveyor line, tracking belt line, robot reset jacking apparatus and combined type
Robot mechanism is started to work, and in one row of lorry inner machine people stacking, compound machine robot mechanism steps back a step, until filling
Compartment fills rear crawler-type mobile mechanism and returns to initial position and awaits orders.Ring prompting sounds, and reminds truck man to drive away, work
Make it is efficient, it is highly practical.
2, when the robot in automatic loading system returns to horizontal operation platform, composite power mechanism starts to start, and drives
Jack reset post passes through positioning through hole to coordinate with the detent mechanism in robot along pilot sleeve, has offset deviation in robot
When, the regular reset of robot is completed, position sideslip after avoiding robot from moving back and forth influences follow-up machine people in container
Interior entrucking stacking, this mechanical structure keep the permanent stable operation of loading system.
3, lorry to be loaded rests in position corresponding with the present apparatus, when the tailstock is too low, starts the device, tailstock top
It rises device to start to start, the setting of the turbine screw body A and turbine screw body B of synchronization lifting make tailstock more stable lifting can
It leans on, horizontal lifting plate is arranged with limit sensory package, and this structure effectively avoids tailstock position by too high excessively high or mistake
It is short, it influences follow-up machine people and enters progress entrucking stacking in container, be suitble to promote the use of.
4, combined type handgrip mechanism includes the rotating arm being connect with forearm end and is arranged below rotating arm adjustable
Clamping device facilitates the various sizes of material packing case of clamping, and chucking power is stablized.
Description of the drawings
Fig. 1 is that the compound machine robot mechanism of the utility model does not enter the structural schematic diagram of lorry；
Fig. 2 is that the compound machine robot mechanism of the utility model enters the structural schematic diagram of lorry；
Fig. 3 is the vertical view of Fig. 1；
Fig. 4 is the structural schematic diagram of compound machine robot mechanism；
Fig. 5 is the structural schematic diagram that robot resets jacking apparatus；
Fig. 6 is the structural schematic diagram of jacking apparatus；
Fig. 7 is the partial structural diagram of Fig. 5；
Fig. 8 is the vertical view of Fig. 4；
Fig. 9 is the structural schematic diagram of combined type handgrip mechanism；
Reference numeral：1- driving motors, 2- limit anti-falling mechanisms, 3- belt conveyor lines, 3-1- adjustable stop A,
3-2- synchronizes lever, 3-3- adjustable stops B, 4- output roller line, and 5- tracks belt line, and 6- robots reset jacking dress
It sets, 6-2- power carrying platforms, 6-3- supporting racks, 6-4- limits sensory package, 6-5- horizontal operation platforms, 6-5-1- positioning
Through-hole, 6-6- jacking reset posts, 6-7- pilot sleeves, 6-8- composite powers mechanism, 7- crawler belt mounting brackets, 8- lorries, 9- are vehicle-mounted
Belt line, 10- robots, 10-1- convolution seats, 10-2- large arm, 10-3- forearms, 10-4- combined type handgrip mechanisms, 10-5- bases
Seat, 11- jacking apparatus, 12- guide rails.
Specific implementation mode
In order to which those skilled in the art are better understood from the utility model, below in conjunction with the accompanying drawings with following embodiment to this
Utility model is described in further detail.
Embodiment 1
As shown in Fig. 1 to 9, the present embodiment provides a kind of unidirectional feeding humanoid robot loading systems, including belt conveyor line
3, which is characterized in that 3 output end of belt conveyor line is connected with the output roller line 4 being obliquely installed, the 3 lower section setting of belt conveyor line
There is the guide rail 12 parallel with material conveying direction, the tracking belt line 5 that can be moved back and forth along guide rail 12 is provided on guide rail 12, with
The height of track belt line 5 is less than the height of belt conveyor line 3, and output roller line 4 is overlapped in tracking belt line 5, tracks belt
5 end of line is connected with the compound machine robot mechanism that can be passed in and out in 8 compartment of lorry, is provided with below compound machine robot mechanism
Robot resets jacking apparatus 6, and robot resets jacking apparatus 6 and is provided with far from 5 one end of tracking belt line matches with 8 tailstock of lorry
The jacking apparatus 11 of conjunction, it includes supporting rack 6-3 that robot, which resets jacking apparatus 6, on support frame as described above 6-3 from top to bottom successively and
What is be mutually parallel is provided with horizontal operation platform 6-5 and power carrying platform 6-2, on horizontal operation platform 6-5 there are four settings
The lower surface positioning through hole 6-5-1, horizontal operation platform 6-5 is respectively arranged with leads correspondingly with four positioning through hole 6-5-1
To sleeve 6-7, it is both provided with and can be moved along the jacking reset post 6-6 of pilot sleeve 6-7 synchronization liftings in each pilot sleeve 6-7
The composite power mechanism 6-8 of four jacking reset post 6-6 synchronization liftings of driving is provided on power carrying platform 6-2.
In the present embodiment, when work, lorry falls back on setting position, brakes, and stops working, driver, which gets off, presses start button, vehicle
Tail jacking apparatus jacks up the tailstock, and compound machine robot mechanism is entered by crawler-type mobile mechanism in compartment, compartment detection machine
Structure can confirm flexible stop position, and belt conveyor line, tracking belt line, robot resets jacking apparatus and compound machine is man-machine
Structure is started to work, and in one row of lorry inner machine people stacking, compound machine robot mechanism steps back a step, until filling compartment, is filled
Man Hou crawler-type mobiles mechanism returns to initial position and awaits orders.Ring prompting sounds, and reminds truck man to drive away, working efficiency
Height, it is highly practical.
Embodiment 2
This implementation is further optimized on the basis of embodiment 1 or 2, specifically：
Further include limit sensory package 6-4, limit sensory package 6-4 includes being mounted below jacking reset post 6-6 with top
The limit assembly B6-4-2 for rising the inductive component A6-4-1 of reset post 6-6 liftings and being fixed on power carrying platform 6-2, induction
Component A6-4-1 includes the mounting bracket A6-4-1.1 being fixed below jacking reset post 6-6, is arranged below mounting bracket A6-4-1.1
It includes horizontal mounting plate B6-4-2.1 to have inductive head 6-4-1.2, limit assembly B6-4-2, is arranged on horizontal mounting plate B6-4-2.1
There are the upper limit position block 6-4-2.2 and lower position block 6-4-2.3 with inductive head 6-4-1.2 cooperations.
Embodiment 3
The present embodiment is further optimized on the basis of embodiment 1 or 2, specifically：
Compound machine robot mechanism includes crawler belt mounting bracket 7 and the robot 10 in 7 side of crawler belt mounting bracket is arranged, described
Crawler belt mounting bracket 7 on the other side be provided with the vehicle-mounted belt line 9 that connect of tracking belt line 5,7 both sides of crawler belt mounting bracket are installed
There are crawler belt, the material conveying direction of vehicle-mounted belt line 9 identical as the crawler travel direction of crawler belt mounting bracket 7.
The robot 10 includes sequentially connected pedestal 10-5, convolution seat 10-1, large arm 10-2, forearm 10-3 and answers
Box-like handgrip mechanism 10-4, pedestal 10-5 are mounted on crawler belt mounting bracket 7, and combined type handgrip mechanism 10-4 includes and forearm 10-3
The rotating arm 10-4.1 of end connection and the adjustable holding mechanism being arranged below rotating arm 10-4.1.
Embodiment 4
The present embodiment is further optimized on the basis of embodiment 1-3, specifically：
The adjustable holding mechanism includes the transverse slat 10-4.4 being fixedly connected with rotating arm 10-4.1, under transverse slat 10-4.4
Surface both sides are respectively arranged with vertical fixed clamp plate 10-4.5 and horizontal mounting plate 10-4.8, vertical fixed clamp plate 10-4.5
It is provided with guide rod 10-4.7 between the tops horizontal mounting plate 10-4.8, being provided on guide rod 10-4.7 can be along guide rod
10-4.7 the movable clamping device moved back and forth.
Jacking apparatus 11 is worm screw lifting body.
3 side of belt conveyor line is provided with limit anti-falling mechanism 2 and drives the driving motor 1 of 3 rotation of belt conveyor line.
The above, the only preferred embodiment of the utility model, are not intended to limit the utility model, the utility model
Scope of patent protection be subject to claims, it is equivalent made by every specification and accompanying drawing content with the utility model
Structure change similarly should be included in the scope of protection of the utility model.
Claims (7)
1. a kind of unidirectional feeding humanoid robot loading system, including belt conveyor line（3）, which is characterized in that belt conveyor line（3）
Output end is connected with the output roller line being obliquely installed（4）, belt conveyor line（3）Lower section is provided with parallel with material conveying direction
Guide rail（12）, guide rail（12）On be provided with can be along guide rail（12）The tracking belt line of reciprocating motion（5）, track belt line（5）
Height be less than belt conveyor line（3）Height, output roller line（4）It is overlapped on tracking belt line（5）On, track belt line
（5）End, which is connected with, can pass in and out lorry（8）Compound machine robot mechanism in compartment, the lower section setting of compound machine robot mechanism
There is robot to reset jacking apparatus（6）, robot reset jacking apparatus（6）Far from tracking belt line（5）One end is provided with and goods
Vehicle（8）The jacking apparatus of tailstock cooperation（11）, robot reset jacking apparatus（6）Including supporting rack（6-3）, support frame as described above
（6-3）On from top to bottom successively and what is be mutually parallel is provided with horizontal operation platform（6-5）With power carrying platform（6-2）, water
Flat workbench（6-5）There are four positioning through hole for upper setting（6-5-1）, horizontal operation platform（6-5）Lower surface is respectively arranged with
With four positioning through hole（6-5-1）One-to-one pilot sleeve（6-7）, each pilot sleeve（6-7）Inside being both provided with can edge
Pilot sleeve（6-7）The jacking reset post of synchronization lifting（6-6）, power carrying platform（6-2）On be provided with driving four jacking
Reset post（6-6）The composite power mechanism of synchronization lifting（6-8）.
2. unidirectional feeding humanoid robot loading system according to claim 1, which is characterized in that further include limit sensing group
Part（6-4）, limit sensory package（6-4）Including being mounted on jacking reset post（6-6）Lower section is with jacking reset post（6-6）Lifting
Inductive component A（6-4-1）Be fixed on power carrying platform（6-2）On limit assembly B（6-4-2）, inductive component A（6-4-
1）Including being fixed on jacking reset post（6-6）The mounting bracket A of lower section（6-4-1.1）, mounting bracket A（6-4-1.1）Lower section is provided with
Inductive head（6-4-1.2）, limit assembly B（6-4-2）Including horizontal mounting plate B（6-4-2.1）, horizontal mounting plate B（6-4-2.1）
On be provided with and inductive head（6-4-1.2）The upper limit position block of cooperation（6-4-2.2）And lower position block（6-4-2.3）.
3. unidirectional feeding humanoid robot loading system according to claim 1, which is characterized in that compound machine robot mechanism
Including crawler belt mounting bracket（7）With setting in crawler belt mounting bracket（7）The robot of side（10）, the crawler belt mounting bracket（7）On
The other side is provided with and tracking belt line（5）The vehicle-mounted belt line of connection（9）, crawler belt mounting bracket（7）Both sides are equipped with crawler belt, vehicle
Carry belt line（9）Material conveying direction and crawler belt mounting bracket（7）Crawler travel direction it is identical.
4. unidirectional feeding humanoid robot loading system according to claim 3, which is characterized in that the robot（10）
Including sequentially connected pedestal（10-5）, convolution seat（10-1）, large arm（10-2）, forearm（10-3）With combined type handgrip mechanism
（10-4）, pedestal（10-5）Mounted on crawler belt mounting bracket（7）On, combined type handgrip mechanism（10-4）Including with forearm（10-3）End
Hold the rotating arm of connection（10-4.1）With setting in rotating arm（10-4.1）The adjustable holding mechanism of lower section.
5. unidirectional feeding humanoid robot loading system according to claim 4, which is characterized in that the adjustable holding machine
Structure includes and rotating arm（10-4.1）The transverse slat being fixedly connected（10-4.4）, transverse slat（10-4.4）Lower surface both sides are respectively arranged with
Vertical fixed clamp plate（10-4.5）And horizontal mounting plate（10-4.8）, vertical fixed clamp plate（10-4.5）And horizontal mounting plate
（10-4.8）Guide rod is provided between top（10-4.7）, guide rod（10-4.7）On be provided with can be along guide rod（10-4.7）
The movable clamping device of reciprocating motion.
6. unidirectional feeding humanoid robot loading system according to claim 1 or 2, which is characterized in that jacking apparatus（11）
For worm screw lifting body.
7. unidirectional feeding humanoid robot loading system according to claim 1, which is characterized in that belt conveyor line（3）One
Side is provided with limit anti-falling mechanism and driving belt conveyor line（3）The driving motor of rotation（1）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721746119.9U CN207671341U (en) | 2017-12-14 | 2017-12-14 | A kind of unidirectional feeding humanoid robot loading system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721746119.9U CN207671341U (en) | 2017-12-14 | 2017-12-14 | A kind of unidirectional feeding humanoid robot loading system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207671341U true CN207671341U (en) | 2018-07-31 |
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ID=62968722
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721746119.9U Expired - Fee Related CN207671341U (en) | 2017-12-14 | 2017-12-14 | A kind of unidirectional feeding humanoid robot loading system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207671341U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112299051A (en) * | 2020-11-25 | 2021-02-02 | 三明市缘福生物质科技有限公司 | Method for realizing automatic loading of modified lignin |
-
2017
- 2017-12-14 CN CN201721746119.9U patent/CN207671341U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112299051A (en) * | 2020-11-25 | 2021-02-02 | 三明市缘福生物质科技有限公司 | Method for realizing automatic loading of modified lignin |
| CN112299051B (en) * | 2020-11-25 | 2024-05-10 | 三明市缘福生物质科技有限公司 | Method for realizing automatic loading of modified lignin |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180731 Termination date: 20211214 |
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| CF01 | Termination of patent right due to non-payment of annual fee |