CN208120260U - A kind of mobile robot's handling stacking machine - Google Patents
A kind of mobile robot's handling stacking machine Download PDFInfo
- Publication number
- CN208120260U CN208120260U CN201820227001.3U CN201820227001U CN208120260U CN 208120260 U CN208120260 U CN 208120260U CN 201820227001 U CN201820227001 U CN 201820227001U CN 208120260 U CN208120260 U CN 208120260U
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- China
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- piling
- fixing seat
- conveying mechanism
- material frame
- mobile robot
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Abstract
The utility model discloses a kind of mobile robots to load and unload stacking machine, including piling platform, piling platform is located on electric flat carriage, the lower section ground of piling platform is equipped with the sliding rail being used cooperatively with electric flat carriage, piling platform is equipped with the material frame conveying mechanism that piling station, transplanting mechanism and one end can be gone up and down, piling station is equipped with pallet, and transplanting mechanism is located between piling station and one end end of material frame conveying mechanism.The device has both two kinds of loading, unloading functions, highly-safe.
Description
Technical field
The utility model relates to the technical fields of handler, and in particular to a kind of mobile robot's handling stacking machine.
Background technique
In actual production, it is often necessary to it got in stocks, unloaded by fork truck or small-sized transport cart carrying container, but it is right
In the biggish container of weight and higher-height container is stacked, fork truck cannot be carried directly, need by manually by it
It is transported to carrying fork truck conveniently position, in the meantime, relies primarily on manpower progress, not only working efficiency is low, but also
Porter carries often at higher position, and risk is high.
Summary of the invention
The purpose of the utility model is to overcome problem above of the existing technology, provide a kind of mobile robot
Stacking machine is loaded and unloaded, which has both two kinds of loading, unloading functions, and safety is higher.
In order to achieve the above objectives, reach above-mentioned technical effect, the technical solution of the utility model is as follows：A kind of movement is provided
Formula robot loads and unloads stacking machine, including piling platform, the piling platform are located on electric flat carriage, the lower section of the piling platform
Ground is equipped with the sliding rail that is used cooperatively with the electric flat carriage, the piling platform be equipped with piling station, transplanting mechanism and
The material frame conveying mechanism that one end can be gone up and down, the piling station are equipped with pallet, and the transplanting mechanism is located at the stacking work
Between position and one end end of the material frame conveying mechanism.
Preferably, the material frame conveying mechanism includes conveying mechanism fixing seat and conveyor belt, the conveying mechanism is solid
Reservation is equipped with the lifting assembly for going up and down the conveyor belt, and the lifting assembly includes two slider rollers, two positions
The sliding slot being used cooperatively with the slider roller in the conveying mechanism fixing seat is equipped between two slider rollers
Push plate, one end of the fixed lifting support frame in the both ends of the push plate, the other end of the lifting support frame are hinged on the conveying
The middle part of belt, one end of the middle part articulated telescopic bar of the push plate, the other end of the telescopic rod connects lifting motor, described
Lifting motor is fixed in the conveying mechanism fixing seat, and the both ends of the conveyor belt are equipped with the horizontal mistake in horizontality
Cab apron.
Preferably, the transplanting mechanism includes five shaft mechanical arms, the end axis of the five shaft mechanicals arm is connected with
The fixture that can be circumferentially rotated along the end of the five shaft mechanicals arm and the fixture fixing seat for fixing the fixture, it is described
Fixture includes the first sponge sucker, and the first sponge sucker is fixed in the fixture fixing seat, the fixture fixing seat
Both ends are symmetrically arranged with the clamping jaw for transplanting the pallet.
Preferably, the clamping jaw includes two clamping jaw cylinders, two clamping jaw cylinders are separately fixed at the fixture
The side both ends of fixing seat, the end of the clamping jaw cylinder are connected with rotary shaft, and the rotary shaft is fixed on rotary shaft fixing seat
On, it is L-shaped clamping arm that one end axis connection of the rotary shaft, which has end,.
Preferably, being fixed with manual power assisting device on the piling platform, two are fixed at the top of the manual power assisting device
Item horizontal litter parallel to each other suspends the second sponge sucker in midair on the horizontal litter, fixes on the manual power assisting device useful
In the lifting cylinder for driving the second sponge sucker to move up and down.
Preferably, the upper end of the second sponge sucker is equipped with power-assisted handle.
Preferably, being additionally provided with the collection tray station for stacking pallet described in multilayer on the piling platform.
Preferably, the piling station and collection tray station side are equipped with the safe grating placed vertically.
The utility model has the beneficial effects that：The utility model provides a kind of mobile robot's handling stacking machine, the dress
Safety coefficient height is set, the risk of material frame cargo handling process is greatly reduced, saves manpower, the angle that people need to only guide as guiding
Color reduces labor intensity；
The device of the utility model the material frame on truck can not only have been unloaded and stacking, but also the material frame stacked can be packed into
On truck, it is provided simultaneously with Multi Loading and Unloading Functions.
The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility model
Art means, and can be implemented in accordance with the contents of the specification, below on the preferred embodiment of the present invention and the accompanying drawings in detail
It describes in detail bright as after.Specific embodiment of the present utility model is shown in detail by following embodiment and its attached drawing.
Detailed description of the invention
In order to illustrate more clearly of the technical solution in the utility model embodiment technology, embodiment technology will be retouched below
Attached drawing needed in stating is briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is the preferred embodiment in the utility model overall structure diagram；
Fig. 2 is partial enlarged view at Fig. 1 " A "；
Fig. 3 is the structural schematic diagram of the material frame conveying mechanism of the preferred embodiment in the utility model；
Fig. 4 is the transplanting mechanism structural schematic diagram of the preferred embodiment in the utility model；
Fig. 5 is partial enlarged view at Fig. 4 " B "；
Wherein：
1. truck, 2. electric flat carriages, 3. piling stations, 31. pallets；
4. transplanting mechanism, 41. 5 shaft mechanical arms, 42. fixture fixing seats, 43. first sponge suckers, 44. clamping jaws, 45.
Clamping jaw cylinder, 46. rotary shafts, 47. rotary shaft fixing seats, 48. clamping arms；
5. material frame conveying mechanism, 51. conveying mechanism fixing seats, 52. conveyor belts, 53. slider rollers, 54. push plates, 55.
Lifting support frame, 56. telescopic rods, 57. lifting motors, 58. horizontal transition plates, 59. sliding slots；
6. manual power assisting device, 61. horizontal litter, 62. second sponge suckers, 63. lifting cylinders, 64. power-assisted handles；
7. safe grating.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
Every other embodiment obtained, fall within the protection scope of the utility model.
Embodiment
As shown, disclosing a kind of mobile robot's handling stacking machine, including piling platform, stacking in the present embodiment
Platform is located on electric flat carriage 2, and the lower section ground of piling platform is equipped with the sliding rail being used cooperatively with electric flat carriage 2, and stacking is flat
Platform is equipped with the material frame conveying mechanism 5 that piling station 3, transplanting mechanism 4 and one end can be gone up and down, and piling station 3 is equipped with pallet
31, transplanting mechanism 4 is located between piling station 3 and one end end of material frame conveying mechanism 5.
Material frame conveying mechanism 5 includes conveying mechanism fixing seat 51 and conveyor belt 52, and conveying mechanism fixing seat 51 is equipped with
For going up and down the lifting assembly of conveyor belt 52, lifting assembly includes two slider roller 53, two to be fixed positioned at conveying mechanism
The sliding slot 59 being used cooperatively with slider roller 53 on seat 51, is equipped with push plate 54 between two slider rollers 53, and the two of push plate 54
One end of fixed lifting support frame 55 is held, the other end of lifting support frame 55 is hinged on the middle part of conveyor belt 52, push plate 54
The other end of one end of middle part articulated telescopic bar 56, telescopic rod 56 connects lifting motor 57, and lifting motor 57 is fixed on conveyer
In structure fixing seat 51, the both ends of conveyor belt 52 are equipped with the horizontal transition plate 58 for being in horizontality always, and 52 liters of conveyor belt
When drop, the carrying roller delivery platform that the horizontal transition plate 58 at both ends itself carries independent power can remain horizontal.Specific to
In the present embodiment, one of horizontal transition plate 58 is fixed on piling platform, another horizontal transition plate 58 is located on truck 1
Side, and can be gone up and down under the synergistic effect of telescopic rod 56 and lifting support frame 55, it is more easily different in truck 1
Material frame on vertical direction carries out handling goods.And the material frame conveying mechanism 5 has certain excessive conveying effect, prevents truck
Joining place between 1 and ground generates security risk, and safety coefficient is higher.
Transplanting mechanism 4 includes five shaft mechanical arms 41, and the end axis of five shaft mechanical arms 41 is connected with can be along five axis machines
The fixture that the end of tool arm 41 circumferentially rotates and the fixture fixing seat 42 for stationary fixture, fixture include the first sponge sucker
43, the first sponge sucker 43 is fixed in fixture fixing seat 42, and the both ends of fixture fixing seat 42 are symmetrically arranged with for transplanting pallet
31 clamping jaw 44.By five shaft mechanical arms 41, flexible delivery is located at material frame on different directions, in actual use, five axis machines
Electronic capture component is arranged in the end of tool arm 41, and the position of accurate judgement material frame is drawn, and draws position not because material frame is put
Seated position, which generates, draws location error, and it is preferable to use the first sponge sucker 43, the first sponge sucker 43 packets in the present embodiment
It containing multiple suckers, is drawn by multiple suckers, prevents from causing to draw obstacle, institute because of differences such as hollow out, the models of material frame
There is sucker to carry out absorption judgement in initial draw, when being in hollow out position, is automatically closed, protects sucker, using flexible
Property is also higher.
Clamping jaw 44 includes two clamping jaw cylinders 45, and two clamping jaw cylinders 45 are separately fixed at the side two of fixture fixing seat 42
End, the end of clamping jaw cylinder 45 are connected with rotary shaft 46, and rotary shaft 46 is fixed in rotary shaft fixing seat 47, and the one of rotary shaft 46
It is L-shaped clamping arm 48 that end axis connection, which has end,.Clamping jaw 44 in the present embodiment not only has the function of flexibly drawing material frame,
And the setting for clamping arm 48 makes the clamping jaw that can also clamp pallet 31, in the present embodiment, is also provided on piling platform
31 storage position of pallet, further ensures the continuity of entire stacking cargo handling process, and working efficiency is higher.
Manual power assisting device 6 is fixed on piling platform, the top of manual power assisting device 6 is fixed with two levels parallel to each other
Litter 61 suspends the second sponge sucker 62 in midair on horizontal litter 61, is fixed on manual power assisting device 6 for driving the second sponge sucker
62 lifting cylinders 63 to move up and down, the upper end of the second sponge sucker 62 are equipped with power-assisted handle 64, are additionally provided with use on piling platform
In the collection tray station for stacking multiple layer tray 31.Manual power assisting device 6 increases device using flexible, only need to manually hold and help
Second sponge sucker 62 is transferred at some specific material frame position and carries out under the assistance of horizontal litter 61 by power handle 64
It draws, manpower is greatly saved, ensure that the safety of device.
In order to guarantee to grab or draw the accuracy of position, piling station and collection tray station side are equipped with and put vertically
The safe grating 7 set.
In actual use, vision system is equipped with above transplanting mechanism 4, the object that will acquire when material reaches crawl position
Material coordinate is transferred to five shaft mechanical arms 41, and the first sponge sucker 41 of five shaft mechanical arms, 41 end is accurate according to coordinate
Material is drawn；A set of vision system is also equipped on clamping jaw 44, purposes gives clamping hand first is that in the empty pallet 31 of crawl
The crawl coordinate of arm 48, purposes is second is that material coordinate on identification pallet 31 when de-stacking.
The device of the present embodiment has both two kinds of functions of loading and unloading, and using flexible is high, safer, is also more convenient fast
Victory, specifically used method are as follows：
One, mobile robot loads and unloads the discharging method of stacking machine, and this approach includes the following steps：
(the suspension traction line between horizontal litter 61 and the second sponge sucker 62 is not shown in Fig. 1) as shown in Figure 1, (1)
Truck 1 equipped with material frame to be unloaded is moved to material frame and waits for that (position is located at the one of piling platform in the present embodiment for loading position
Side), it is moved on the slide rail by electric flat carriage 2 and changes the position of piling platform, specific in the present embodiment, by conveyor belt 52
Horizontal transition plate 58 positioned at eminence one end is located exactly at a upper side of the truck 1 close to piling platform；
(2) height for adjusting material frame conveying mechanism 5, one end of material frame conveying mechanism 5 is extended to above 1 compartment of truck,
Material frame to be unloaded is placed in material frame conveying mechanism 5 on one end above truck 1, material frame is delivered to the another of material frame conveying mechanism
One end leads to before unloading specific to the material frame in the present embodiment, unloaded first positioned at truck 1 close to the side of piling platform
It crosses lifting motor 57 and pulls telescopic rod 56, under the action of telescopic rod 56,59 movement along the chute of slider roller 53, lifting support frame
55 also move, and under the action of lifting support frame 55, conveyor belt 52 rises in certain position, with the progress of unloading,
It is unloaded for convenience far from piling platform material frame to be unloaded, yet by aforesaid way, reduces conveyor belt 52 and be located at eminence position
The one end set, during the reduction of conveyor belt 52, horizontal distance is lengthened, it is made to be located exactly at goods immediately below more convenient unload
The position of object stops, and continues to unload；
(3) material frame for being located at the other end of conveying mechanism is transferred to stacking on pallet by transplanting mechanism 4, specific to this implementation
In example, under artificial assistance, the position of the second sponge sucker 62 is finely tuned in (left and right adjustment) in the horizontal direction, the second sponge is inhaled
Disk 62 is transferred to right above the material frame for specifically needing to unload, and presses the start button of lifting cylinder, the decline of the second sponge sucker 62
Material frame is drawn, material frame absorption is transferred on horizontal transition plate 58, material frame continues the water for being delivered to the other end along conveyor belt 52
In flat transition plates 58, material frame is transferred to pallet 31 by five shaft mechanical arms, 41 accurate judgement material frame position, the first sponge sucker 43
On, and 7 accurate judgement stacking height stacking one by one of safe grating is combined, after the completion of each 31 stacking of pallet, by fork truck by material frame
Stacking is removed, and then the rotation of five shaft mechanical arms 41 grabs new pallet 31 to collection tray station and is placed on piling station, weight
Multiple above-mentioned unloading process, repeats, palletization.
Two, mobile robot loads and unloads the method for loading of stacking machine, and this approach includes the following steps：
(1) empty calorie vehicle 1 is moved to loading position, is moved on the slide rail by electric flat carriage and changes the position of piling platform
It sets；Specific in the present embodiment, it is separate that the horizontal transition plate 58 that conveyor belt 52 is located at eminence one end is located exactly at empty calorie vehicle 1
Top at one side position of piling platform；
(2) height for adjusting material frame conveying mechanism, one end of material frame conveying mechanism is extended to above 1 compartment of truck, is led to
Cross the other end that the material frame being located on pallet is transferred to material frame conveying mechanism by manipulator by pallet；Specific in the present embodiment,
The material frame stacked is transferred to piling station by fork truck, in conjunction with the height of 7 accurate judgement material frame of safe grating, five shaft mechanical arms 41
Decline, the first sponge sucker 43 draw material frame, material frame are transferred to the horizontal transition plate 58 that conveyor belt 52 is at lower position
On.
(3) under the action of material frame conveying mechanism, material frame is transferred to one end of material frame conveying mechanism, then by material frame loaded on card
On vehicle 1, specific in the present embodiment, material frame is delivered on the horizontal transition plate 58 at high position through conveyor belt 52, in people
Under work is assisted, the position of the second sponge sucker 62 is finely tuned in (left and right adjustment) in the horizontal direction, places it in the water at high position
The start button of lifting cylinder is pressed in the top of material frame in flat transition plates 58, and material frame is drawn in the decline of the second sponge sucker 62, will
Material frame absorption is transferred on truck 1, and after the material frame on pallet 31 shifts completely, five shaft mechanical arms 41 rotate empty pallet 31
To collection tray station, above-mentioned loading process is repeated, is repeated.
The foregoing description of the disclosed embodiments can be realized professional and technical personnel in the field or using originally practical new
Type.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest scope consistent with features of novelty.
Claims (8)
1. a kind of mobile robot loads and unloads stacking machine, it is characterised in that：Including piling platform, the piling platform is located at electronic
On flatcar, the lower section ground of the piling platform is equipped with the sliding rail being used cooperatively with the electric flat carriage, the piling platform
It is equipped with the material frame conveying mechanism that piling station, transplanting mechanism and one end can be gone up and down, the piling station is equipped with pallet, institute
Transplanting mechanism is stated between the piling station and one end end of the material frame conveying mechanism.
2. mobile robot according to claim 1 loads and unloads stacking machine, it is characterised in that：The material frame conveying mechanism packet
Conveying mechanism fixing seat and conveyor belt are included, the conveying mechanism fixing seat is equipped with the lifting for going up and down the conveyor belt
Component, the lifting assembly include two slider rollers, two be located at the conveying mechanism fixing seat on the sliding rolling
The sliding slot being used cooperatively is taken turns, push plate is equipped between two slider rollers, the fixed lifting support frame in the both ends of the push plate
One end, the other end of the lifting support frame are hinged on the middle part of the conveyor belt, the middle part articulated telescopic bar of the push plate
One end, the other end of the telescopic rod connects lifting motor, and the lifting motor is fixed in the conveying mechanism fixing seat,
The both ends of the conveyor belt are equipped with the horizontal transition plate in horizontality.
3. mobile robot according to claim 1 loads and unloads stacking machine, it is characterised in that：The transplanting mechanism includes five
Shaft mechanical arm, the end axis of the five shaft mechanicals arm, which is connected with, to be circumferentially rotated along the end of the five shaft mechanicals arm
Fixture and fixture fixing seat for fixing the fixture, the fixture include the first sponge sucker, first sponge inhales
Disk is fixed in the fixture fixing seat, and the both ends of the fixture fixing seat are symmetrically arranged with the clamping jaw for transplanting the pallet.
4. mobile robot according to claim 3 loads and unloads stacking machine, it is characterised in that：The clamping jaw includes two folders
Pawl cylinder, two clamping jaw cylinders are separately fixed at the side both ends of the fixture fixing seat, the end of the clamping jaw cylinder
It is connected with rotary shaft, the rotary shaft is fixed in rotary shaft fixing seat, and it is L shape that one end axis connection of the rotary shaft, which has end,
Clamping arm.
5. mobile robot according to claim 1 loads and unloads stacking machine, it is characterised in that：It is fixed on the piling platform
There is artificial booster, be fixed with two horizontal litter parallel to each other at the top of the manual power assisting device, on the horizontal litter
It suspends the second sponge sucker in midair, the lifting for driving the second sponge sucker to move up and down is fixed on the manual power assisting device
Cylinder.
6. mobile robot according to claim 5 loads and unloads stacking machine, it is characterised in that：The second sponge sucker
Upper end is equipped with power-assisted handle.
7. mobile robot according to claim 1 loads and unloads stacking machine, it is characterised in that：It is also set on the piling platform
There is the collection tray station for stacking pallet described in multilayer.
8. mobile robot according to claim 7 loads and unloads stacking machine, it is characterised in that：The piling station and pallet
It collects station side and is equipped with the safe grating placed vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820227001.3U CN208120260U (en) | 2018-02-08 | 2018-02-08 | A kind of mobile robot's handling stacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820227001.3U CN208120260U (en) | 2018-02-08 | 2018-02-08 | A kind of mobile robot's handling stacking machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208120260U true CN208120260U (en) | 2018-11-20 |
Family
ID=64207394
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820227001.3U Active CN208120260U (en) | 2018-02-08 | 2018-02-08 | A kind of mobile robot's handling stacking machine |
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| Country | Link |
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| CN (1) | CN208120260U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117533689A (en) * | 2024-01-09 | 2024-02-09 | 山西怡顺行冷链物流有限公司 | Box-type cargo stacking device for cold chain logistics storage |
-
2018
- 2018-02-08 CN CN201820227001.3U patent/CN208120260U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117533689A (en) * | 2024-01-09 | 2024-02-09 | 山西怡顺行冷链物流有限公司 | Box-type cargo stacking device for cold chain logistics storage |
| CN117533689B (en) * | 2024-01-09 | 2024-03-22 | 山西怡顺行冷链物流有限公司 | Box-type cargo stacking device for cold chain logistics storage |
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